Robotic replenishment and safety systems for automated retail store environments

Abstract

Systems, methods, and software are provided for automated replenishment of items using gantry robots and for establishing safety barriers for retail workspaces within a retail store environment. A robot controller in communication with the gantry robot and the barrier robot directs their autonomous movement for transferring items between customer-accessible point-of-sale locations and non-customer-accessible storage, and for alternating between restricting and enabling access to the workspace, respectively.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This patent application claims the benefit of U.S. patent application No. 16 / 378,994, filed April 9, 2019, which is incorporated herein by reference for all purposes. Technical Field

[0003] The present disclosure relates to automated retail store operations and, more particularly, to robotic replenishment and safety systems for automated retail store environments. Background Art

[0004] Warehouse-type stores often store products in storage locations above aisles and out of reach of customers for future use. In at least some such retail store environments, store personnel manually transfer items from the inaccessible storage locations as needed (such as in response to a customer alert that an item is out of stock). Operators of warehouse-type stores can use various types of equipment to assist workers in storing and retrieving items from the inaccessible storage locations above aisles, but such tasks can still present safety and inefficiency issues for operators.

[0005] Known systems and equipment for warehouse-type stores may require disparate information sources to be used effectively, and they may inhibit rather than enhance the customer experience. To more fully realize the economic benefits of in-store retail automation, there is a need for systems, methods, and software that provide robotic mechanisms that integrate various relevant data sources in a secure, reliable, and efficient manner for store operators and their customers. Summary of the Invention

[0006] The systems, methods, and software disclosed herein provide multiple beneficial technical effects and achieve various advantages for users compared to known robotic replenishment and operational safety systems and methods. As used for automated replenishment of items and related retail work operations in a retail store environment, the embodiments disclosed herein provide robotic devices, systems, and control mechanisms that integrate various relevant data sources for store operators and their customers in a safe, reliable, and efficient manner.

[0007] In one aspect, the present disclosure describes a system for automatically replenishing items in a retail store environment having a customer-accessible point-of-sale (POS) location for the items and customer-inaccessible storage for the items. The system includes a mounting platform and a gantry robot operably coupled to the mounting platform. The system includes a robot controller in communication with the gantry robot for directing autonomous movement of the gantry robot to facilitate, in response to determining that the quantity of items in the customer-accessible POS location has decreased below a user-predetermined value, the transfer of items from the customer-inaccessible storage to the customer-accessible POS location by the gantry robot. The system includes one or more sensors in communication with the robot controller.

[0008] In another aspect, the present disclosure describes a system for restricting access to a space in a retail store environment before or during retail work operations in the space. The system includes a mobile barrier robot positioned on a floor of the retail store environment. The system includes a robot controller in communication with the barrier robot for directing autonomous movement of the barrier robot to facilitate positioning the barrier robot on the floor adjacent to the space to at least partially enclose the space before or during retail work operations in the space. The system includes one or more robot sensors operably coupled to the barrier robot and in communication with the robot controller.

[0009] In yet another aspect, the present disclosure describes a system for securing items in a retail store environment having a customer-accessible point-of-sale (POS) location for the items and customer-inaccessible storage, the customer-inaccessible storage including storage location access for one or more of the stored items. The system includes a barrier device operably coupled to at least a portion of the storage location for alternately enabling and restricting access to the storage location. The system includes a barrier actuator operably coupled to: the barrier device and at least a portion of the storage location. The system includes a barrier controller in communication with the barrier actuator for directing autonomous movement of the barrier device to facilitate alternating opening and closing of the barrier device. The system includes one or more sensors in communication with the barrier controller. Alternating opening and closing of the barrier device facilitates alternating enabling and restricting access to the storage location.

[0010] The robotic replenishment and safety system disclosed herein for automated retail store environments provides multiple beneficial technical effects and achieves various advantages over known robotic replenishment and operational safety systems and methods. These benefits include, but are not limited to, more efficient use of storage space, physical infrastructure, and computing resources, network bandwidth, and memory storage capacity; providing for cheaper and more user-friendly installation, operation, and maintenance; consuming less power; being safer and less disruptive to users, shoppers, and employees in retail stores and other usage environments; allowing for use with a variety of different items, packaging configurations, delivery formats, and POS configurations; being interoperable with a variety of existing store equipment; and being able to utilize multiple data communication protocols.

[0011] Other and alternative aspects and features of the disclosed principles will be appreciated from the following detailed description and accompanying drawings. It should be appreciated that the principles related to the disclosed robotic replenishment and security system for an automated retail store environment are capable of being implemented in other different embodiments and modified in various aspects. Therefore, it should be understood that the foregoing summary, the following detailed description, and the accompanying drawings are merely exemplary and illustrative and are not intended to limit the scope of the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1A is a schematic diagram of a system for automatic replenishment of items in a retail store environment having a customer-accessible point-of-sale (POS) location for the items and non-customer-accessible storage for the items according to an embodiment of the present disclosure.

[0013] Figure 1B is a diagram illustrating vertical separation of customer accessible POS locations and customer inaccessible storage according to an embodiment of the present disclosure. Figure 1A Schematic diagram of the system shown.

[0014] Figure 1C is a diagram illustrating horizontal separation and vertical separation of customer accessible POS locations and customer inaccessible storage according to an embodiment of the present disclosure Figure 1A Schematic diagram of the system shown.

[0015] Figure 2 is a diagram illustrating an obstacle proximate a customer-accessible POS location according to an embodiment of the present disclosure. Figures 1A to 1C Schematic diagram of the system shown.

[0016] Figure 3 1 to 2 are diagrams illustrating an embodiment of the present disclosure. Figure 2 Flowcharts illustrating aspects of the operation of the system.

[0017] Figure 4According to the embodiment of the present disclosure, it can be used in FIG. 1 to FIG. Figure 3 Schematic diagram of the branch gantry robot mounting platform of the system shown.

[0018] Figure 5 is a schematic diagram of a system for restricting access to a space in a retail store environment before or during retail work operations in the space according to an embodiment of the present disclosure.

[0019] Figure 6A and Figure 6B is an illustration of a barrier robot for establishing customer containment zones of varying sizes to confine spaces adjacent to retail work operations in accordance with an embodiment of the present disclosure. Figure 5 A schematic diagram of the various parts of the system is shown.

[0020] Figure 7A 、 Figure 7B 、 Figure 8 and Figure 9 is a diagram that can be advantageously applied Figures 5 to 6B Schematic diagrams of several types of retail work operations targeted by the system shown.

[0021] 10A to 10C is an illustration of a pair of robotic units for establishing a barrier near a retail work operation according to an embodiment of the present disclosure. Figure 5 A schematic diagram of the various parts of the system is shown.

[0022] Figure 11 1 to 2 are diagrams illustrating an embodiment of the present disclosure. Figure 10C Flowcharts illustrating aspects of the operation of the system.

[0023] Figure 12 is a schematic diagram of a system for securing items in a retail store environment having a customer-accessible POS location for the items and non-customer-accessible storage for the items according to an embodiment of the present disclosure.

[0024] 13A to 13D is an illustration of an obstacle of a barrier device according to an embodiment of the present disclosure, which shows a moving path from an open position to a closed position. Figure 12 Schematic diagram of the system shown.

[0025] Figure 14 is a diagram illustrating an embodiment according to the present disclosure Figures 12 to 13D Flowcharts illustrating aspects of the operation of the system. DETAILED DESCRIPTION

[0026] Reference will now be made in detail to specific embodiments or features, examples of which are illustrated in the accompanying drawings. Where possible, corresponding or similar reference numerals are used throughout the drawings to refer to identical or corresponding parts. Moreover, when there may be more than one element of the same type, references to the various elements described herein are made jointly or individually. However, such references are merely exemplary in nature. It should be noted that, unless expressly provided in the appended claims, any reference to a singular element may also be interpreted as relating to the plural, and any reference to a plural element may also be interpreted as relating to the singular, without limiting the scope of the present disclosure to the exact number or type of these elements.

[0027] Figure 1A is a schematic diagram of a system (1) for automatic replenishment of items (2) in a retail store environment (4) according to an embodiment of the present disclosure, the retail store environment (4) having a point of sale (POS) location (8) accessible to a customer (6) for the items (2) and storage (10) for the items (2) that is not accessible to the customer (6). Figure 1B is a diagram illustrating a vertical separation of a customer (6) accessible POS location (8) and a customer (6) inaccessible store (10) according to an embodiment of the present disclosure Figure 1A Schematic diagram of the system (1) shown. Figure 1C is a schematic diagram of the system (1) shown in FIG. 1 illustrating horizontal separation and vertical separation of customer (6) accessible POS locations (8) and customer (6) inaccessible storage (10) according to an embodiment of the present disclosure. Figure 2 is a diagram illustrating an obstacle (42) near a POS location (8) accessible to a customer (6) Figures 1A to 1C Schematic diagram of the system (1) shown. Figure 3 1 to 2 are diagrams illustrating an embodiment of the present disclosure. Figure 2 A flow chart illustrating aspects of the operation of the system (1) is shown.

[0028] Refer to Figures 1 to Figure 3The system (1) includes at least one mounting platform (12) and at least one gantry robot (14) operably coupled to the mounting platform (16). The system includes at least one robot controller (18) in communication with the gantry robot (14). In an example, the one or more robot controllers (18) also communicate with at least one user (20) of the system (1). The system (1) includes at least one sensor (22) in communication with the one or more robot controllers (18). In an example, the one or more sensors (22) are positioned at or operably coupled to the gantry robot (14). In another example, the one or more sensors (22) are positioned at or near and / or operably coupled to one or more customer (6) accessible POS locations (8) and / or customer inaccessible storage (10) locations. The system (1) includes one or more memory devices (202) in communication with the one or more robot controllers (18).

[0029] The one or more robot controllers (18) may be located in the retail store environment (4). The one or more robot controllers (18) may be remote from the retail store environment (4). The one or more robot controllers (18) may be co-located with the one or more gantry robots (14). The one or more robot controllers (18) may be programmed to at least partially implement and / or otherwise perform one or more of the disclosed steps, operations, and / or processes of the system (1), including but not limited to those described with reference to FIGs. 1 through 4. Figure 3 The disclosed steps, operations and / or processes shown and described herein. One or more robotic controllers (18) are capable of performing multiple functions in the system (1). The one or more robotic controllers (18) include robotic movement control functions, data processing and data communication functions, which may be at least partially implemented using one or more processors and / or other suitable computing devices and subsystems (Figures 1 to Figure 3 is implemented by

[0030] In an example, one or more memory devices (202) include a non-transitory computer-readable medium (204). The non-transitory computer-readable medium (204) stores computer-executable instructions as software (206) for automatic replenishment of items (2) in a retail store environment (4), the retail store environment (4) having a point-of-sale (POS) location (8) accessible to a customer (6) for the items (2) and a storage (10) inaccessible to the customer (6) for the items (2). In an example, the computer-executable instructions stored as software (206) include one or more modules (208). The computer-executable instructions, when executed by a robot controller (18) in communication with the memory device (202), the gantry robot (14), the sensor (22), and / or the user (20), cause the one or more robot controllers (18) to at least partially implement and / or otherwise perform one or more of the disclosed operations, steps, and / or processes of the system (1).

[0031] In a system (1), one or more robot controllers (18), one or more memory devices (202), one or more gantry robots (14), and / or one or more users (20) communicate with each other via a network (52) and using signals (e.g., encoded data signals) sent and / or received through the network (52). Communications among and between the one or more robot controllers (18), one or more sensors (22), one or more memory devices (202), one or more gantry robots (14), and / or one or more users (20) are facilitated by a transceiver (FIG. 1 to Figure 3 (not shown) facilitates. In an example, system (1) communications using network (52) include wireless communication devices and protocols. In another example, system (1) communications using network (52) include wired communication devices and protocols. In yet another example, system (1) communications using network (52) include a combination of wireless and wired communication devices and protocols. In an example, system (1) communications include wireless and / or wired communication devices and protocols for utilizing cloud-based processing, storage and / or communication resources. In an example, system (1) communications utilize the Internet, which includes but is not limited to Internet of Things (IoT) protocols, practices and / or standards.

[0032] In operation of the system (1), at least one robot controller (18) directs (201) autonomous movement of one or more gantry robots (14) to facilitate the transfer (203) of items (2) by the gantry robots (14) from a store (10) not accessible to a customer (6) to a POS location (8) accessible to the customer (6). In an example, in response to determining (205) (e.g., by the one or more robot controllers (18)) that the number of items (2) in the POS location (8) accessible to the customer (6) has decreased below a value predetermined by a user (20), the one or more items (2) are transferred (203) by the one or more gantry robots (14).

[0033] In this example, one or more robotic controllers (18) direct (201) autonomous movement of one or more gantry robots (144) to transfer (203) items (2) from storage (10) to POS locations (8) when one or more robotic controllers (18) determine (205) using logic branch (207) that one or more quantities of a particular item (2) have fallen below a customer-accessible inventory level at one or more POS locations (8). Otherwise, when one or more robotic controllers (18) determine (205) that one or more quantities of the particular item (2) have not fallen below a user (20) predetermined value, logic branch (207) operates in the system (1) to cause the one or more robotic controllers (18) to return to the determining (205) step. The user (20) predetermined value may be stored in a memory device (202) for use by the one or more robotic controllers (18) in the determining (205) step. In an embodiment where one or more of the directing (201), conveying (203), and / or determining (205) steps are implemented in the system (1) and / or otherwise performed by software (206), one or more robotic controllers (18) execute computer-executable instructions stored in one or more modules (208) for directing, conveying, and / or determining quantity, respectively. In this manner, the one or more robotic controllers (18) continuously monitor one or more inventory levels of one or more items (2) present at a POS location (8) accessible to a customer (6), and can take immediate action to replenish the inventory of the one or more items (2) therein as needed.

[0034] In an example, a user (20) sets a user (20) predetermined value based on a desired constant quantity of one or more specific items (2) in one or more corresponding POS locations (8) in a retail store environment (4). In another example, the user (20) sets the user (20) predetermined value based on a rate at which one or more specific items (2) are sold to customers (6) from one or more POS locations (8). The one or more users (20) may periodically update the predetermined value of the one or more corresponding items (2) in one or more memory devices (202). The user (20) predetermined value for the quantity of the item (2) may be further set based on item (2) sales, quantity, demand, and / or inventory data in the retail store environment (4), which the one or more users (20) of the system (1) may advantageously use to maximize the probability that the one or more items (2) desired by the customer (6) to purchase are readily available in the one or more corresponding POS locations (8) for one or more of the items (2).

[0035] In an embodiment, one or more sensors (22) of a system (1) facilitate one or more robotic controllers (18) to obtain (209) data representing the number of items (2) in a POS location (8) accessible to a customer (6). In this embodiment, in response to the data obtained from the one or more sensors (22) and based on the results of the operation of the logic branch (207), the one or more robotic controllers (18) direct (201) the autonomous movement of one or more gantry robots (14) to further facilitate the transfer (203) of the items (2) from a storage (10) not accessible to the customer (6) to a POS location (8) accessible to the customer (6). In an embodiment where the obtaining (209) step is implemented in the system (1) and / or otherwise performed by software (206), the one or more robotic controllers (18) execute computer executable instructions stored in a module (208) for obtaining.

[0036] In an example, the one or more sensors (22) include at least one weight sensor (24) located beneath an item (2) in a POS location (8) accessible to a customer (6), as shown in FIG. Figure 2As shown. One or more weight sensors sense the weight of items (2) in a POS location (8) accessible to a customer (6). In this example, the data representing the quantity of items (2) includes a value for the sensed weight of the items (2) in the POS location (8) accessible to the customer (6). Thus, for example, one or more robotic controllers (18) can determine (205) the current inventory of similar items (2) in a POS location (8) accessible to the customer (6) having one or more weight sensors (24) by dividing the sensed weight obtained (209) by the weight per unit of the individual items (2) therein (e.g., stored in a memory device (202)). In an embodiment where the division operation is implemented and / or otherwise performed in the system (1) by software (206), the one or more robotic controllers (18) execute computer executable instructions stored in a module (208) for division.

[0037] In an example, the one or more sensors (22) include at least one computer vision device (26) as an alternative to or in addition to the one or more weight sensors (24). In this example, the one or more computer vision devices (26) are located in a field of view of a POS location (8) accessible to a customer (6) for imaging an item (2) therein, as shown in FIG. Figure 2 As shown. In this example, the data representing the quantity of the item (2) includes images of the item (2) in a POS location (8) accessible to the customer (6). Thus, for example, one or more robotic controllers (18) can determine (205) the current inventory of similar and / or different items (2) in a POS location (8) accessible to the customer (6) with one or more computer vision devices (26) by analyzing (e.g., using image recognition algorithms, such image recognition algorithms including but not limited to incorporating machine learning and / or artificial intelligence solutions) the obtained (209) images thereof. In embodiments where the image analysis operation is implemented in the system (1) and / or otherwise performed by software (206), the one or more robotic controllers (18) execute computer-executable instructions stored in a module (208) for image analysis.

[0038] In an embodiment, the obstacle (42) is or includes a heat source (28). In an example, one or more sensors (22) of the system (1) facilitate one or more robotic controllers (18) to obtain (209) data indicating the presence of a heat source (28) within a space (30) that at least partially defines a predetermined distance (32) from a POS location (8) accessible to a customer (6), such as Figure 1BIn an example, the one or more robot controllers (18) further facilitate determining (211) the presence of a heat source (28) within a space (30) based on data obtained from the one or more sensors (22). The one or more robot controllers (18) direct (201) the autonomous movement of the gantry robot (14) to perform at least one of the following: stopping (213) and detouring (214) in response to determining (211) the presence of the heat source (28) within the space (30).

[0039] In this example, when a logic branch (215) is used to determine (211) that a heat source (28) is present in (or near) the space (30), one or more robot controllers (18) direct (201) the autonomous movement of one or more gantry robots (14) to stop (213) and / or detour (214). Otherwise, when the one or more robot controllers (18) determine (211) that the heat source (28) is not present in (or near) the space (30), the logic branch (215) is operated in the system (1) to cause the one or more robot controllers (18) to return to the determination (211) step. In an embodiment where one or more of the determination (211), stop (213) and / or detour (214) steps are implemented and / or otherwise performed in the system (1) by software (206), the one or more robot controllers (18) execute computer executable instructions stored in one or more modules (208) for heat source determination, stop and / or detour, respectively. In this manner, one or more robotic controllers (18) continuously monitor the space (30) and / or areas proximate to the space (30) for heat sources, which may indicate the presence of customers (6) (or their pets, if applicable) therein and may take immediate action to stop (213) and / or detour (214) the movement of one or more gantry robots (14) as needed to ensure the safety and comfort of the retail store environment (4).

[0040] In an example, the one or more sensors (22) include a thermal sensor (34) located within the space (30) for sensing the presence of a warm-blooded animal (46) (e.g., as a heat source (28) within (or proximate to) the space (30). In this example, the one or more robotic controllers (18) also facilitate determining (211) the presence of the heat source (28) as the presence of the warm-blooded animal (46) within the space (30) based on data obtained from the thermal sensor (34). In an embodiment of this aspect of the determining (211) step implemented and / or otherwise performed in the system (1) by software (206), the one or more robotic controllers (18) execute computer-executable instructions stored in a module for warm-blooded animal presence determination.

[0041] In an embodiment, the obstacle (42) is or includes a moving object (e.g., an animal (46)). In an example, one or more sensors (22) of the system (1) facilitate one or more robotic controllers (18) to obtain (209) data representing the presence of movement within a space (30) that at least partially defines a predetermined distance (32) from a POS location (8) accessible to a customer (6), such as Figure 1B In an example, the one or more robot controllers (18) further facilitate determining (217) the presence of movement within the space (30) based on data obtained (209) from the one or more sensors (22). The one or more robot controllers (18) direct the autonomous movement of the gantry robot (14) to perform at least one of the following: stopping (213) and detouring (214) in response to determining (211) the presence of movement within the space (30).

[0042] In this example, when the presence of movement within (or near) the space (30) is determined (217) using a logic branch (219), one or more robot controllers (18) direct (201) the autonomous movement of one or more gantry robots (14) to stop (213) and / or detour (214). Otherwise, when the one or more robot controllers (18) determine (217) that movement within (or near) the space (30) is not present, the logic branch (219) operates in the system (1) to cause the one or more robot controllers (18) to return to the determination (217). In the example, the one or more sensors (22) include at least one of the following: a motion sensor (36), a computer vision device (26), and a three-dimensional (3D) scanner (40). One or more of the sensors (36, 26, and / or 40) are located in a field of view of the space (30) for sensing the presence of movement within the space (30). In this example, the one or more robotic controllers (18) also facilitate determining the presence of movement within the space (30) based on data obtained from the motion sensors (36), the computer vision device (26), and / or the 3D scanner (40).

[0043] In an embodiment where one or more of the determining (217), stopping (213), and / or detouring (214) steps are implemented in the system (1) and / or otherwise performed by software (206), one or more robotic controllers (18) execute computer-executable instructions stored in one or more modules (208) for motion determination, stopping, and / or detouring, respectively. In this manner, the one or more robotic controllers (18) continuously monitor the space (30) and / or areas proximate to the space (30) for the presence of movement that may indicate the presence of a customer (6) (or their pet, if applicable) therein, and may take immediate action to stop (213) and / or detour (214) the movement of one or more gantry robots (14) as needed to ensure the safety and comfort of the customer (6) in the retail store environment (4).

[0044] In an embodiment, one or more sensors (22) facilitate a robot controller (18) to obtain (209) data representing the presence of an actual or potential obstacle (42) to the autonomous movement of a gantry robot (14) within a space (30) that at least partially defines a predetermined distance (32) from a POS location (8) accessible to a customer (6), such as Figure 2 In an example, the one or more robot controllers (18) further facilitate determining (221) the presence of an obstacle (42) within the space (30) based on data obtained from the one or more sensors (22). In response to determining (221) the presence of the obstacle (42) within the space (30), the one or more robot controllers (18) direct (201) autonomous movement of the one or more gantry robots (14) to transport (223) the obstacle (42) out of the space (30).

[0045] In the example, upon determining (221) the presence of an obstacle (42) within (or proximate to) the space (30) using a logic branch (225), one or more robot controllers (18) direct (201) autonomous movement of one or more gantry robots (14) to transport (223) the obstacle (42) out of the space (30). Otherwise, upon determining (221) that the obstacle (42) within (or proximate to) the space (30) is not present, a logic branch (225) operates in the system (1) to cause the one or more robot controllers (18) to return to the determining (221) step. In embodiments where the determining (221) and / or transporting (223) steps are implemented and / or otherwise performed in the system (1) by software (206), the one or more robot controllers (18) execute computer executable instructions stored in a module (208) for obstacle determination and / or transport, respectively. In this manner, one or more robot controllers (18) continuously monitor the space (30) and / or areas proximate to the space (30) for the presence of actual or potential obstacles (42) that may impede or otherwise undesirably affect the movement of one or more gantry robots (14) and take responsive action as needed to ensure continuous, safe, and efficient operation of the gantry robots (14) in the retail store environment (4).

[0046] In an embodiment, the obstacle (42) is or includes a stationary object. In an example, the one or more sensors (22) include at least one of the following: a motion sensor (36), a computer vision device (26), and a 3D scanner (40). One or more of the sensors (36, 26, and / or 40) are located in a field of view of the space (30) and are configured to sense the presence of an obstacle (42) (e.g., a stationary and / or moving object) within the space (30). In the example, the one or more robot controllers (18) further facilitate determining (221) the presence of one or more obstacles (42) within the space (30) based on data obtained from the motion sensor (36), the computer vision device (26), and / or the 3D scanner (40).

[0047] In an example, the one or more robot controllers (18) further facilitate determining (227) the ability of the one or more gantry robots (14) to move (e.g., teleport (223)) the obstacle (42) out of the space (30) based on data indicating the presence of the obstacle (42). In this example, the process of the one or more robot controllers (18) determining (227) the ability of the one or more gantry robots (14) to move the obstacle (42) out of the space (30) utilizes a logical branch (229). If the one or more robot controllers (18) determine (227) that the one or more gantry robots (14) are able to so move the obstacle (42), the one or more robot controllers (18) direct (201) autonomous movement of the one or more gantry robots (14) to teleport (223) the obstacle (42) out of the space (30). Otherwise, when the one or more robot controllers (18) determine (227) that the gantry robot (14) is unable to move the obstacle (42) out of the space (30), the one or more robot controllers (18) further facilitate providing (231) an indication (e.g., a light, sound, and / or message) to one or more users (20) of the system (1) that the obstacle (42) needs to be manually transported (233) out of the space (30). In embodiments where one or more of the determining (227) and / or providing (231) steps are implemented and / or otherwise performed in the system (1) by software (206), the one or more robot controllers (18) respectively execute computer-executable instructions stored in a module (208) for transport capability determination and / or providing. In this manner, one or more robot controllers (18) implement responsive actions and / or provide notifications to a user (20) regarding obstacles (42) in the space (30) and / or areas proximate to the space (30) to ensure continuous, safe, and efficient operation of the gantry robots (14) in the retail store environment (4). In an example, the one or more robot controllers (18) also facilitate directing (201) autonomous movement of the one or more gantry robots (14) away from the space (30) during or after movement within or proximate to the space (30).

[0048] Figure 4 According to the embodiment of the present disclosure, it can be used in FIG. 1 to FIG. Figure 3A schematic diagram of a mounting platform (16) for a branch gantry robot (14) of the system shown. In this embodiment, the mounting platform (16) includes one or more branch rails (17) for one or more gantry robots (14) of the system (1). Each of the branch rails (17) includes a safety stop (58). Each safety stop (58) is located at an end (61) of each branch rail (17) to prevent the one or more gantry robots (14) from moving beyond a point defined by the safety stop (58).

[0049] The branch mounting platform (16) includes a branch switch (63) located at an intersection between a branch track (17) and a track (56) of the main mounting platform (16). In an example, one or more branch switches (63) communicate with a robot controller (18) to facilitate receiving and transmitting control signals for changing the direction of a movement path of a gantry robot (14) to / from one or more branch tracks (17) and the track (56) of the main mounting platform (16). In another example, instead of or in addition to communicating with the robot controller (18), one or more branch switches (63) communicate with a user (20) of the system (1) to receive and transmit control signals for changing the direction of a movement path of a gantry robot (14) to / from one or more branch tracks (17) and the track (56) of the main mounting platform (16), respectively.

[0050] In the example, the system (1) includes a plurality of gantry robots (14) and a plurality of branch tracks (17). Figure 4 As shown, one of the plurality of gantry robots (14) is operably coupled to a first branch track of the plurality of branch tracks (17), and at least a second gantry robot of the plurality of gantry robots (14) is operably coupled to at least a second branch track of the plurality of branch tracks (17). Even if only one gantry robot (14) is used for one or more users (20) in the system (1), Figure 4 The configuration of the mounting platform (16) shown also advantageously enables one or more gantry robots (14) to move and service throughout the retail store environment (4) in an efficient and safe manner, rather than having to provide one gantry robot (14) for each shelf unit (65).

[0051] In an embodiment, the retail store environment (4) includes a staging area (67) for items (2). Thus, items (2) received from a warehouse or elsewhere can be stored at an intermediate location for convenient retrieval by one or more gantry robots (14) as needed to supply POS locations (8) and / or stores (10) in the retail store environment (4) using the system (1) (e.g., based on expected customer (6) demand for items (2) in the store). Instead of or in addition to using the area (67) for staging items (2), the area (67) can also be used for intermediate storage of empty boxes and / or other packaging waste for items (2) that are moved to the area (67) from elsewhere in the retail store environment (4) by one or more gantry robots (14) for disposal.

[0052] refer to Figure 2 In an embodiment, storage (10) that is inaccessible to customers (6) for items (2) includes one or more storage locations (504) for storing at least one of the items (2). The one or more storage locations (504) include, for example, but not limited to, shelves, covers, compartments, cages, lofts, hangers, cabinets, and drawers. As used herein, the one or more storage locations (504) may also include a support structure, such as a frame for the storage (10) that is inaccessible to customers (6) and / or for the one or more storage locations (504) themselves. In this embodiment, the system (1) also includes a barrier device (503) for alternately enabling and restricting access to the storage location (504) (and the one or more items (2) stored therein). In an example, the barrier device (503) is a passive device that is operably coupled to at least a portion of the storage location (504), for example, by one or more hinges (87). In this example, the passive barrier device (503) may include a lock and / or other mechanism for securing the barrier device (503) in a closed position to restrict access to the storage location (504). In this example, one or more gantry robots (14) include robotic arms and / or grippers ( Figure 2 ), the robotic arm and / or gripper is configured to manipulate the passive barrier device (503) to alternately open and close the passive barrier device (503), including but not limited to operating a lock and / or other mechanism to secure the barrier device (503) in a closed position.

[0053] In another example, the system (1) of this embodiment includes a barrier actuator (505) in communication with a robot controller (18). The barrier actuator (505) is operably coupled to the barrier device (503) and at least a portion of the storage location (504). In this example, the barrier actuator (505) is or includes a controllable bidirectional motor that facilitates rotation of the barrier device (503) about one or more hinges (87) coupled to at least a portion of the storage location (504) and the barrier device (503) and coupled therebetween. In an example, the robot controller (18) further facilitates using the barrier actuator (505) to guide autonomous movement of the barrier device (503) to alternately open and close the barrier device (503). In another example, the robot controller (18) further facilitates guiding (201) autonomous movement of one or more gantry robots (14) to alternately open and close the barrier device (503). The barrier actuator (505) may be manually operated by one or more users (20), including, for example but not limited to, by a switch ( Figure 2 ) to control the flow and / or directionality of current to the barrier actuator (505). Alternating opening and closing of the barrier device (503) facilitates alternating enabling and restricting access to the storage location (504).

[0054] Figure 5 is a schematic diagram of a system (101) for restricting access to a space (123) in a retail store environment (4) before or during retail work operations in the space (123) according to an embodiment of the present disclosure. Figure 6A and Figure 6B is an illustration of a barrier robot (113) for establishing customer containment zones of varying sizes to confine a space (123) adjacent to a retail work operation in accordance with an embodiment of the present disclosure. Figure 5 A schematic diagram of the various parts of the system (101) is shown. Figure 7A 、 Figure 7B 、 Figure 8 and Figure 9 It is a diagram that can be advantageously applied Figures 5 to 6B Schematic diagrams of several types of retail work operations targeted by the system (101) are shown. 10A to 10C yes Figure 5 A schematic diagram of portions of the system (101) is shown. Pairs of robotic units (149) are illustrated for establishing a barrier (128) adjacent to a retail work operation in accordance with an embodiment of the present disclosure. Figure 11 is a diagram illustrating an embodiment according to the present disclosure Figures 5 to 10C A flow chart illustrating aspects of the operation of the system (101) is shown.

[0055] refer to Figures 5 to 11The system (101) includes at least one mobile barrier robot (113) located on a floor (137) of a retail store environment (4). The system (101) includes at least one robot controller (109) in communication with the barrier robot (113). In an example, one or more barrier robots (113) include motorized wheels (115) to facilitate movement around the floor (137) of the retail store environment (4). In an example, the one or more robot controllers (109) also communicate with at least one user (111) of the system (101). The system (101) includes at least one robot sensor (117) operably coupled to the one or more barrier robots (113) and in communication with the one or more robot controllers (109). The system (101) includes at least one environmental sensor (107) located in the retail store environment (4) and in communication with the one or more robot controllers (109). The system (101) includes one or more memory devices (402) in communication with one or more robotic controllers (109).

[0056] The one or more robot controllers (109) may be located in the retail store environment (4). The one or more robot controllers (109) may be remote from the retail store environment (4). The one or more robot controllers (109) may be co-located with the one or more barrier robots (113). The one or more robot controllers (109) are programmed to at least partially implement and / or otherwise perform one or more of the disclosed steps, operations, and / or processes of the system (101), including but not limited to those described with reference to Figures 5 to 11 The disclosed steps, operations and / or processes shown and described. One or more robotic controllers (109) are capable of performing a variety of functions in the system (101). The one or more robotic controllers (109) include robotic motion control functions, data processing and data communication functions, which functions may be at least partially implemented using one or more processors and / or other suitable computing devices and subsystems ( Figures 5 to 11 is implemented by

[0057] In an example, one or more memory devices (402) include a non-transitory computer-readable medium (404). The non-transitory computer-readable medium (404) stores computer-executable instructions as software (406) for automatically restricting access to a space (123) in a retail store environment (4) before or during retail work operations in the space (123). In an example, the computer-executable instructions stored as software (406) include one or more modules (408). When executed by one or more robot controllers (109) in communication with the one or more memory devices (402), one or more barrier robots (113), one or more sensors (107 and / or 117), and / or one or more users (111), the computer-executable instructions cause the one or more robot controllers (109) to at least partially implement and / or otherwise perform one or more of the disclosed operations, steps, and / or processes of the system (101).

[0058] In the system (101), one or more robot controllers (109), one or more memory devices (402), one or more barrier robots (113), and / or one or more users (111) communicate with each other via a network (102) and use signals (e.g., encoded data signals) sent and / or received through the network (102). Communications among and between the one or more robot controllers (109), one or more memory devices (402), one or more barrier robots (113), one or more robot sensors (107 and / or 117), and / or one or more users (111) are facilitated by a transceiver ( Figures 5 to 11 (not shown) facilitates. In an example, system (101) communications using network (102) include wireless communication devices and protocols. In another example, system (101) communications using network (102) include wired communication devices and protocols. In yet another example, system (101) communications using network (102) include a combination of wireless and wired communication devices and protocols. In an example, system (101) communications include wireless and / or wired communication devices and protocols for utilizing cloud-based processing, storage, and / or communication resources. In an example, system (101) communications utilize the Internet, which includes but is not limited to Internet of Things (IoT) protocols, practices, and / or standards.

[0059] When operating the system (101), at least one robot controller (109) directs (301) autonomous movement of one or more barrier robots (113) to facilitate positioning of the one or more barrier robots (113) on a floor (137) adjacent to a space (123) to at least partially surround the space (123) prior to or during retail work operations therein. In an example, one or more robot sensors (117) facilitate the robot controller (109) obtaining (305) data representing a position of the barrier robots (113) on the floor (137). In an example, the one or more robot sensors (117) include a GPS transceiver, a motor encoder, and / or an imaging sensor-based navigation subsystem for providing position data to the one or more robot controllers (109). In another example, the one or more robot sensors (117) include a transceiver for use by the one or more robot controllers (109) to coordinate navigation of the one or more barrier robots (113) around the floor (137) in conjunction with, for example, RFID devices (104) located at a plurality of locations in the retail store environment (4).

[0060] In this example, one or more robot controllers (109) direct (301) autonomous movement of one or more barrier robots (113) in response to data obtained from one or more sensors (107 and / or 117) to position (303) the one or more barrier robots (113) near a floor (137) of a space (123). To position (303) the one or more barrier robots (113) near the space (123) and / or elsewhere on the floor (137), the one or more robot controllers (109) determine (302) a drive path (141) for the one or more barrier robots (113) through the retail store environment (4). In addition to determining (302) the drive path (141) based on the determined (300) (e.g., current) position of one or more barrier robots (113), one or more robot controllers (109) may consider obstacles (42), customer (6) activity levels, priority levels of retail store work operations, and / or user (111) determined guidelines when determining (302) the drive path (141). In an example, such information used by one or more robot controllers (109) to determine (100) the position and determine the drive path (141) is obtained (305) from one or more sensors (107 and / or 117). One or more users (111) may periodically store and / or update this information in one or more memory devices (402).

[0061] In an example, one or more sensors (107 and / or 117) of a system (101) facilitate one or more robot controllers (109) to obtain (305) data representing a position of one or more barrier robots (113) on a floor (137). In the example, the one or more robot controllers (109) direct (301) autonomous movement of the one or more barrier robots (113) in response to the data obtained from the one or more sensors (107 and / or 117) to further facilitate positioning (303) the one or more barrier robots (113) on a floor (137) proximate to a space (123) prior to or during retail work operations therein. In embodiments where the guiding (301), positioning (303), determining (300 and / or 302), and / or obtaining (305) steps are implemented in the system (101) and / or otherwise performed by software (406), the one or more robot controllers (109) execute computer-executable instructions stored in a module (408) for guiding, positioning, position determination, drive path determination, and / or obtaining, respectively. In this manner, the one or more robot controllers (109) continuously monitor the retail store environment (4) and one or more locations of the one or more barrier robots (113) to ensure that the one or more barrier robots (113) reach their designated destinations in a safe and efficient manner and without unduly disrupting the experience of the customers (6).

[0062] In an example, the one or more sensors (107 and / or 117) include at least one computer vision device (26). In this example, the one or more computer vision devices (26) are located in a field of view of the floor (137). In this example, the data representing the position of the one or more barrier robots (113) on the floor (137) includes an image of the floor (137). Thus, for example, the one or more robot controllers (109) can determine (300) one or more positions of the one or more barrier robots (113) and / or determine (302) one or more drive paths of the one or more barrier robots (113) by analyzing (e.g., using image recognition algorithms, including but not limited to incorporating machine learning and / or artificial intelligence schemes) the obtained (305) images thereof. In an embodiment where the image analysis operation is implemented and / or otherwise performed in the system (101) by software (206), the one or more robot controllers (109) execute computer executable instructions stored in a module (408) for image analysis.

[0063] In an embodiment, an actual or potential obstacle (42) to the autonomous movement of one or more barrier robots (113) proximate to the drive path (141) and / or proximate to the space (123) is or includes a heat source (28). In an example, one or more sensors (107 and / or 117) of the system (101) facilitate one or more robot controllers (109) to obtain (305) data indicating the presence of a heat source (28) proximate to the drive path (141) and / or proximate to the space (123), such as Figure 6A In an example, the one or more robot controllers (109) further facilitate determining (307) the presence of a heat source (28) proximate the drive path (141) and / or proximate the space (123) based on data obtained from the one or more sensors (107 and / or 117). The one or more robot controllers (109) direct (201) the autonomous movement of the one or more barrier robots (113) to at least one of: stop (309) and detour (310) in response to determining (307) the presence of the heat source (28) proximate the drive path (141) and / or proximate the space (123).

[0064] In this example, when the one or more robot controllers (109) determine (307) that a heat source (28) exists near the drive path (141) and / or near the space (123) using the logic branch (311), the one or more robot controllers (109) direct (301) the autonomous movement of the one or more barrier robots (113) to stop (309) and / or detour (310). Otherwise, when the one or more robot controllers (109) determine (307) that a heat source (28) does not exist near the drive path (141) and / or near the space (123), the logic branch (311) operates in the system (101) to cause the one or more robot controllers (109) to return to the determination (307) step. In embodiments where the determining (307), stopping (309), and / or detouring (310) steps are implemented in the system (101) and / or otherwise performed by software (406), one or more robot controllers (109) execute computer executable instructions stored in a module (408) for heat source determination, stopping, and / or detouring, respectively. In this manner, the one or more robot controllers (109) continuously monitor the drive path (141) and / or the space (123) and / or areas proximate to the space (123) for heat sources that may indicate the presence of customers (6) (or their pets, if applicable) therein, and may take immediate action to stop (309) and / or detour (310) the movement of one or more barrier robots (113) as needed to ensure safety and comfort within the retail store environment (4).

[0065] In an example, the one or more sensors (107 and / or 117) include a thermal sensor (34) located in a field of view of the drive path (141) for sensing the presence of a warm-blooded animal (46) (e.g., as a heat source (28) proximate the drive path (141) and / or proximate the space (123)). In this example, the one or more robotic controllers (18) further facilitate determining (307) the presence of the heat source (28) as the presence of a warm-blooded animal (46) proximate the drive path (141) and / or proximate the space (123) based on data obtained from the thermal sensor (34). In an embodiment of this aspect of the determining (307) step implemented and / or otherwise performed in the system (101) by software (406), the one or more robotic controllers (109) execute computer-executable instructions stored in a module (408) for warm-blooded animal presence determination.

[0066] In an embodiment, the obstacle (42) is or includes a moving object (e.g., a customer (6)). In an example, one or more sensors (107 and / or 117) of the system (101) facilitate one or more robot controllers (109) to obtain (305) data indicating the presence of a movement proximate to the drive path (141) and / or proximate to the space (123). In an example, the one or more robot controllers (109) further facilitate determining (312) the presence of a movement proximate to the drive path (141) and / or proximate to the space (123) based on the data obtained (305) from the one or more sensors (107 and / or 117). The one or more robot controllers (109) direct (301) the autonomous movement of one or more barrier robots (113) to perform at least one of: stop (309) and detour (310) in response to determining (312) the presence of a movement proximate to the drive path (141) and / or proximate to the space (123).

[0067] In this example, upon determining (312) the presence of movement proximate to the drive path (141) and / or proximate to the space (123) using a logic branch (313), the one or more robot controllers (18) direct (301) the autonomous movement of the one or more barrier robots (113) to stop (309) and / or detour (310). Otherwise, upon determining (312) the absence of movement proximate to the drive path (141) and / or proximate to the space (123), the logic branch (313) operates in the system (101) to cause the one or more robot controllers (109) to return to the determination (312). In the example, the one or more sensors (107 and / or 117) include at least one of the following: a motion sensor (36), a computer vision device (26), and a three-dimensional (3D) scanner (40). One or more of the sensors (36, 26, and / or 40) are positioned within a field of view of the drive path (141) and / or the space (123) for sensing the presence of a movement proximate the space (123). In this example, the one or more robotic controllers (109) further facilitate determining (312) the presence of a movement proximate the drive path (141) and / or the space (123) based on data obtained from the motion sensors (36), the computer vision device (26), and / or the 3D scanner (40).

[0068] In embodiments where one or more of the determining (312), stopping (309), and / or detouring (310) steps are implemented and / or otherwise performed in the system (101) via software (406), one or more robot controllers (109) execute computer-executable instructions stored in one or more modules (408) for movement determination, stopping, and / or detouring, respectively. In this manner, the one or more robot controllers (109) continuously monitor the drive path (141) and / or the space (123) and / or areas proximate to the space (123) for movement that may indicate the presence of a customer (6) (or their pet, if applicable) therein, and can take immediate action to stop (309) and / or detour (310) the movement of one or more barrier robots (113) as needed to ensure the safety and comfort of the customer (6) in the retail store environment (4).

[0069] In an embodiment, one or more sensors (107 and / or 117) facilitate one or more robot controllers (109) to obtain (305) data indicating the presence of an actual or potential obstacle (42) proximate to a drive path (141) and / or proximate to the autonomous movement of one or more barrier robots in a space (123), e.g. Figure 10AAs shown. In an example, the one or more robot controllers (109) further facilitate determining (315) the presence of an obstacle (42) proximate to the drive path (141) and / or proximate to the space (123) based on data obtained from the one or more sensors (107 and / or 117). In response to determining (315) the presence of the obstacle (42) proximate to the drive path (141) and / or proximate to the space (123), the one or more robot controllers (109) direct (301) autonomous movement of the one or more barrier robots (113) to transport (317) the obstacle (42) out of the drive path (141) and / or out of the space (123).

[0070] In the example, upon determining (315) the presence of an obstacle (42) proximate the drive path (141) and / or proximate the space (123) using a logic branch (319), the one or more robot controllers (109) direct (301) autonomous movement of the one or more barrier robots (113) to transport (317) the obstacle (42) out of the drive path (141) and / or out of the space (123). Otherwise, upon determining (315) the absence of an obstacle (42) proximate the drive path (141) and / or proximate the space (123), a logic branch (319) operates in the system (101) to cause the one or more robot controllers (109) to return to the determining (315) step. In an embodiment where one or more of the determining (315) and / or communicating (317) steps are implemented in the system (101) and / or otherwise performed by software (406), the one or more robot controllers (109) execute computer-executable instructions stored in the module (408) for obstacle determination and / or communication, respectively. In this manner, the one or more robot controllers (109) continuously monitor the drive path (141) and / or the space (123) and / or areas proximate to the space (123) for the presence of actual or potential obstacles that may obstruct or otherwise undesirably affect the movement of the one or more barrier robots (113), and take responsive action as needed to ensure continuous, safe, and efficient retail work operations of the one or more barrier robots (113) in the retail store environment (4).

[0071] In an embodiment, the obstacle (42) is or includes a stationary object. In an example, the one or more sensors (107 and / or 117) include at least one of the following: a motion sensor (36), a computer vision device (26), and a 3D scanner (40). One or more of the sensors (36, 26, and / or 40) are located in a field of view of the drive path (141) and / or the space (123) for sensing the presence of one or more obstacles (42) proximate to the drive path (141) and / or proximate to the space (123). In the example, the one or more robot controllers (109) further facilitate determining (315) the presence (123) of one or more obstacles (42) (e.g., stationary and / or moving objects) proximate to the drive path (141) and / or proximate to the space based on data obtained from the motion sensor (36), the computer vision device (26), and / or the 3D scanner (40).

[0072] In an example, the one or more robot controllers (109) further facilitate determining (321) the ability of one or more barrier robots (113) to move (e.g., teleport (317)) the obstacle (42) out of the drive path (141) and / or out of the space (123) based on data indicating the presence of the obstacle (42). In this example, the process of determining (321) the ability of one or more barrier robots (113) to move the obstacle (42) out of the drive path (141) and / or out of the space (123) utilizes a logical branch (325). If the one or more robot controllers (109) determine (321) that the one or more barrier robots (113) move the obstacle (42), the one or more robot controllers (109) direct (301) autonomous movement of the one or more barrier robots (113) to teleport (317) the obstacle (42) out of the drive path (141) and / or out of the space (123). Otherwise, when the one or more robot controllers (109) determine (321) that the one or more barrier robots (113) are unable to move the obstacle (42) out of the drive path (141) and / or out of the space (123), the one or more robot controllers (109) further facilitate providing (327) an indication (e.g., a light, sound, and / or message) to a user (11) of the system (101) that the obstacle (42) needs to be manually transferred (329) out of the drive path (141) and / or transferred (329) out of the space (123). In embodiments where the determining (321) and / or providing (327) steps are implemented in the system (101) and / or otherwise performed by software (406), the one or more robot controllers (109) execute computer-executable instructions stored in a module (408) for transfer capability determination and / or provision, respectively. In this manner, one or more robot controllers (109) implement responsive actions and / or provide notifications to one or more users (11) regarding obstacles (42) in the drive path (141) and / or space (123) and / or areas proximate to the space (123) to ensure continuous, safe, and efficient retail work operations of the barrier robot (113) in the retail store environment (4).

[0073] In an embodiment, the barrier robot (113) includes a companion robot (125) operably coupled to the barrier robot (113), such as Figures 10A to 10CAs shown. In an example, one or more robot controllers (109) guide (301) the autonomous movement of a barrier robot (113) and a companion robot (125) as a paired robot unit (149) near a space (123) and / or otherwise around a floor (137). One or more users (111) of the system (101) can deploy one or more paired robot units (149) in a retail store environment (4). In an example, one or more companion robots (125) include motorized wheels (115) to facilitate movement around a floor (137) of the retail store environment (4). In this embodiment, one or more robot controllers (109) guide (301) the autonomous movement of the barrier robot (113) and / or the companion robot (125) to separate (331) from each other on the floor (137). In the example, when the pair of robot units (149) are determined (300) to be positioned (303) proximate to the space (123) using a logic branch (330), the one or more robot controllers (109) direct (301) the separation (331) movement process. Otherwise, the logic branch (330) directs the one or more robot controllers (109) back to the directing (301) process and the positioning (303) process, which processes include, for example, drive path and position determination sub-processes, until the pair of robot units (149) are positioned (303) proximate to the space (123). The separated (331) barrier robot (113) and companion robot (125) together define a customer restraint zone (121) that restricts customers (6) from accessing the space (123) before or during retail work operations therein. The size of this customer confinement area (121) established by the barrier robot (113) and the companion robot (125) can be flexibly adjusted as needed by specifying the distance and / or angle between them.

[0074] In an example, one or more robot controllers (109) direct (301) autonomous movement of the barrier robot (113) and the companion robot (125) to recouple (333) with each other to at least partially remove the customer restraint area (121) by separating (331) the paired robot units (149). In an example, the one or more robot controllers (109) direct (301) the recoupling (333) movement process when determining (335) using a logic branch (337) that the retail work operations in the space (123) have been completed or paused and / or the space (123) is otherwise safe to access. Otherwise, the logic branch (337) directs the one or more robot controllers (109) back to the determining (335) step in the system (101). In an example, one or more robot controllers (109) may determine (335) the work completion and / or safe access status and / or condition of the space (123) based on data obtained (305) from one or more sensors (107 and / or 117). In an embodiment where one or more of the separation (331), recoupling (333), and / or determination (335) steps are implemented and / or otherwise performed in the system (101) via software (406), the one or more robot controllers (109) execute computer-executable instructions stored in one or more modules (408) for separation, recoupling, and / or work completion determination, respectively.

[0075] In an embodiment, the barrier robot (113) includes an deployable and retractable barrier (128) operably coupled to the barrier robot (113), such as 10A to 10CAs shown. In this embodiment, one or more robot controllers (109) guide (301) the autonomous movement of one or more barrier robots (113) to deploy (339) (open the barrier (128), including, for example, but not limited to, in an accordion-like manner) the barrier (128) to construct the customer restraint area (121). In the example, when it is determined (300) using the logic branch (330) that the barrier robot (113) is positioned (303) near the space (123), the one or more robot controllers (109) guide the barrier (128) to deploy (339) movement. Otherwise, the logic branch (330) directs the one or more robot controllers (109) back to the guidance (301) and positioning (303) process, including, for example, the drive path and position determination sub-process, until then the one or more barrier robots (113) are positioned (303) near the space (123). In this embodiment, the deployed (339) barrier (128) and the barrier robot (113) together define a customer-restricted area (121) that restricts customers (6) from accessing the space (123) before or during retail work operations. The size of the customer-restricted area (121) established by the deployed (339) barrier (128) and the barrier robot (113) can be flexibly adjusted as needed by specifying a distance and / or angle between them.

[0076] In an example, one or more robot controllers (109) direct (301) autonomous movement of a barrier robot (113) to retract (343) a barrier (128) to at least partially remove a customer restraint area (121). In an example, the one or more robot controllers (109) determine to direct (301) the retract (343) movement process when a logic branch (337) is used to determine (335) that retail work operations in the space (123) have been completed or paused and / or the space (123) is otherwise safe to access. Otherwise, the logic branch (337) directs the one or more robot controllers (109) back to the determination (335) step in the system (101). In an example, the one or more robot controllers (109) can determine (335) the work completion and / or safe access status and / or condition of the space (123) based on data obtained (305) from one or more sensors (107 and / or 117). In an example, these deployment (339) and / or retraction (342) movements utilize a barrier actuator ( Figures 10A to 10CIn one embodiment, a barrier actuator (not shown) is implemented in the system (101) and is located in or on the barrier robot (113) and is operably coupled to the barrier (128) to facilitate deployment (339) and / or retraction (343) thereof. In embodiments where one or more deployment (339) and / or retraction (343) steps are implemented in the system (101) and / or otherwise performed by software (406), one or more robot controllers (109) execute computer-executable instructions stored in one or more modules (408) for deployment and / or retraction, respectively.

[0077] In an embodiment, the barrier (128) includes a first end (145) that is operably coupled to the barrier robot (113). In this embodiment, the barrier robot (113) further includes a companion robot (125) that is operably coupled to a second end (147) of the barrier (128), such as Figures 10A to 10C As shown. In the example, one or more robot controllers (109) guide (301) the autonomous movement of a barrier robot (113) and a companion robot (125) as a pair of robot units (149) accessing a space (123). In the example, one or more robot controllers (109) guide (301) the autonomous movement of the barrier robot (113) and / or the companion robot (125) to separate (331) from each other on the floor (137) to extend the barrier (128). The separation (331) movement operation is achieved when a logic branch (330) is used to determine (300) that the pair of robot units (149) are positioned (303) close to the space (123). Otherwise, the logic branch (330) directs the robot controller (109) back to the determination (300) step in the system (101). The extended barrier (128) and the separated (331) barrier robot (113) and companion robot (125) together define a customer-restricted area (121) that restricts customers (6) from accessing the space (123) before or during retail work operations therein. The size of the customer-restricted area (121) established by the extended barrier (128) and the separated (331) barrier robot (113) and companion robot (125) can be flexibly adjusted as needed by the distance and / or angle between them.

[0078] In the example, one or more robot controllers (109) direct (301) autonomous movement of the barrier robots (113) and / or companion robots (125) to rejoin (347) each other on the floor (137) to retract the barrier (128) (folding the barrier (128), including, for example, but not limited to, in an accordion-like manner). In the example, the one or more robot controllers (109) direct (301) the rejoin (347) movement process when a logic branch (337) is used to determine (335) that retail work operations in the space (123) have been completed or paused and / or the space (123) is otherwise safe to access. Otherwise, the logic branch (337) directs the one or more robot controllers (109) back to the determination (335) step in the system (101). In an example, one or more robot controllers (109) can determine (335) the work completion and / or safety access status and / or condition of the space (123) based on data obtained (305) from one or more sensors (107 and / or 117). In an embodiment where the rejoining (347) step is implemented and / or otherwise performed in the system (101) via software (406), the one or more robot controllers (109) execute computer executable instructions stored in a module (408) for rejoining. In an example, the one or more robot controllers (109) also facilitate directing (301) the autonomous movement of one or more barrier robots (113) (with or without a paired companion robot (125)) away from the space (123) and / or unsafe conditions in the space (123) or within or near the space (123) during or after retail work operations.

[0079] In an embodiment, a system (101) includes a plurality of mobile barrier robots (113) positioned on a floor (137) of a retail store environment (4). In the embodiment, one or more robot controllers (109) communicate with the plurality of barrier robots (113) to direct (301) their autonomous movement to facilitate positioning (303) at least two of the plurality of barrier robots (113) proximate to the floor (137) of a space (123) prior to or during retail work operations therein. In the example, the two or more positioned (303) barrier robots (113) define a customer restraint zone (121) that restricts access of customers (6) to the space (123) prior to or during retail work operations therein. In this embodiment, the various operations, steps and / or processes described above in the context of individual barrier robots (113), including, where applicable, a companion robot (125) as a paired robot unit (149), are generally applicable to multiple barrier robots (113), either standing alone or as a group of two or more barrier robots (113).

[0080] refer to Figure 5 In an embodiment, storage (10) that is inaccessible to customers (6) for items (2) includes a storage location (504) for storing at least one of the items (2). The one or more storage locations (504) include, for example, but not limited to, shelves, covers, compartments, cages, lofts, hangers, cabinets, and drawers. In this embodiment, the system (101) also includes a barrier device (503) for alternately enabling and restricting access to the storage location (504) (and the items (2) stored therein). In the example, the barrier device (503) is a passive device that is operably coupled to at least a portion of the storage location (504), for example, by one or more hinges (87). In this example, the passive barrier device (503) may include a lock and / or other mechanism for securing the barrier device (503) in a closed position for restricting access to the storage location (504). In this example, the gantry robot (14) includes a robotic arm and / or gripper ( Figure 5 ), the robotic arm and / or gripper is configured to manipulate the passive barrier device (503) to alternately open and close the passive barrier device (503), including but not limited to operating a lock and / or other mechanism to secure the barrier device (503) in a closed position.

[0081] In another example, the system (101) of this embodiment includes a barrier actuator (505) that communicates with the robotic controller (109). The barrier actuator (505) is operably coupled to the barrier device (503) and at least a portion of the storage location (504). In this example, the barrier actuator (505) is or includes a controllable bidirectional motor that facilitates rotation of the barrier device (503) about one or more hinges (87) that are coupled to at least a portion of the storage location (504) and the barrier device (503) and are coupled therebetween. In an example, the robotic controller (109) further facilitates using the barrier actuator (505) to guide autonomous movement of the barrier device (503) to alternately open and close the barrier device (503). In another example, the robot controller (109) further facilitates directing (201) autonomous movement of the gantry robot (14) to alternately open and close the barrier device (503). The barrier actuator (505) may be manually operated by one or more users (20), including but not limited to, via a switch ( Figure 5 ) to control the flow and / or directionality of current to the barrier actuator (505). Alternating opening and closing of the barrier device (503) facilitates alternating enabling and restricting access to the storage location (504).

[0082] Figure 12 is a schematic diagram of a system (501) for protecting items (2) in a retail store environment (4) according to an embodiment of the present disclosure, the retail store environment (4) having a POS location (8) accessible to customers (6) for the items (2) and storage (10) that is not accessible to customers for the items (2). 13A to 13D is a diagram illustrating an obstacle (69) of an open to closed position movement path (99) of a barrier device (503) according to an embodiment of the present disclosure Figure 12 Schematic diagram of the system (501) shown. Figure 14 is a diagram illustrating an embodiment according to the present disclosure Figures 12 to 13D A flow chart illustrating aspects of the operation of the system (501) is shown.

[0083] refer to Figures 12 to 14The system (501) includes at least one barrier device (503) positioned proximate to and operably coupled to at least a portion of one or more storage locations (504) of a store (10) that is inaccessible to a customer (6). In an example, the one or more barrier devices (503) are rotatably coupled to at least a portion of the at least one storage location (504) via one or more barrier actuators (505) (e.g., a controllable bidirectional electric motor and / or a robotic arm). The system (501) includes at least one barrier actuator (505). The system (501) includes at least one barrier controller (509) that communicates with the one or more barrier actuators (505). In an example, the one or more barrier controllers (509) also communicate with at least one user (511) of the system (501). The system (501) includes at least one barrier sensor (507) located on or in and / or operatively coupled to at least one of: one or more barrier devices (503), a storage location (504), one or more barrier actuators (505), one or more items (2), storage (10), and other locations in a retail store environment (4). The one or more barrier sensors (507) communicate with one or more barrier controllers (509). The system (501) includes one or more memory devices (602) that communicate with one or more barrier controllers (509).

[0084] One or more barrier controllers (509) may be located in the retail store environment (4). One or more barrier controllers (509) may be remote from the retail store environment (4). One or more barrier controllers (509) may be in parallel with one or more barrier devices (503). One or more barrier controllers (509) are programmed to at least partially implement and / or otherwise perform one or more of the disclosed steps, operations, and / or processes of the system (501), including but not limited to those described with reference to Figures 12 to 14 The disclosed steps, operations and / or processes shown and described. One or more barrier controllers (509) are capable of performing multiple functions in the system (501). The one or more barrier controllers (509) include motor drive and / or robotic movement control functions, data processing and data communication functions, which functions may be at least partially implemented using one or more processors and / or other suitable computing devices and subsystems ( Figures 12 to 14 (not shown) to achieve this.

[0085] In an example, one or more memory devices (602) include a non-transitory computer-readable medium (604). The non-transitory computer-readable medium (604) stores computer-executable instructions as software (606) for automatically securing an item (2) in a retail store environment (4) having a POS location (8) accessible to a customer (6) of the item (2) and a storage (10) for the item (2) that is not accessible to the customer. In an example, the computer-executable instructions stored as software (606) include one or more modules (608). When executed by one or more robot controllers (509) in communication with the one or more memory devices (602), one or more barrier actuators (505), one or more barrier sensors (507), and / or one or more users (511), the computer-executable instructions cause the one or more robot controllers (109) to at least partially implement and / or otherwise perform one or more of the disclosed steps, operations, and / or processes of the system (501).

[0086] In the system (101), one or more robot controllers (109), one or more memory devices (402), one or more barrier robots (113), and / or one or more users (111) communicate with each other via a network (91) and use signals (e.g., encoded data signals) sent and / or received through the network (91). Communications among and between the one or more robot controllers (109), one or more memory devices (402), one or more barrier robots (113), one or more barrier sensors (507), and / or one or more users (111) are facilitated by a transceiver ( Figures 12 to 14 (not shown) facilitates. In an example, system (501) communications using network (91) include wireless communication devices and protocols. In another example, system (501) communications using network (91) include wired communication devices and protocols. In yet another example, system (501) communications using network (91) include a combination of wireless and wired communication devices and protocols. In an example, system (501) communications include wireless and / or wired communication devices and protocols for utilizing cloud-based processing, storage and / or communication resources. In an example, system (501) communications utilize the Internet, which includes but is not limited to Internet of Things (IoT) protocols, practices and / or standards.

[0087] When operating the system (501), at least one barrier controller (509) directs (601) autonomous movement of one or more barrier devices (503) to facilitate alternating opening (603) or closing (605) of the one or more barrier devices (503). These alternating opening (603) or closing (605) movements of the one or more barrier devices (503) may also be directed by one or more users (511) in lieu of or in addition to the directing (601) of the one or more robotic controllers (509). In embodiments where one or more directing (601), opening (603), and / or closing (605) steps are implemented and / or otherwise performed in the system (501) by software (606), the one or more robotic controllers (509) execute computer-executable instructions stored in one or more modules (608) for directing, opening, and / or closing, respectively. These alternating opening (603) or closing (605) movements of one or more barrier devices (503) facilitate enabling and restricting access, respectively, to items (2) located at corresponding storage locations (504) in a store (10) that is not accessible to customers (6). In the closed position, the one or more barrier devices (503) provide for secure storage of the items (2) in a manner that prevents or at least reduces the probability of one or more items (2) falling from the store (10) onto the floor (137) or other areas in the retail store environment (4), which could create potentially dangerous and unsafe scenarios that are operationally undesirable for customers (6) and other equipment (e.g., one or more gantry robots (14)). In the open position, the one or more barrier devices (503) provide for the transport of one or more items (2) to and from the store (10) that is not accessible to customers (6) to a POS location (8) accessible to customers (6) and / or other locations in the retail store environment (4).

[0088] In a use case, one or more users (511) utilize the system (501) in conjunction with the system (1) and / or the system (101), as shown and described above. During those times when one or more barrier devices (503) that otherwise restrict access to one or more corresponding items (2) to be transferred by one or more gantry robots (14) are open, the gantry robots (14) operations in the retail store environment (4) can thus proceed to transfer the one or more items (2) to and between the store (10) and the POS location (8), and then close one or more of those barrier devices (503) after the gantry robots (14) operations are completed. Similarly, one or more barrier robots (113) can be dispatched to areas of the floor (137) where retail store work operations are performed that require one or more open barrier devices (503), thereby improving the safety of such operations in those areas.

[0089] In an example, one or more barrier controllers (509) provide control signals to one or more barrier actuators (505) to alternately open (603) or close (605) one or more barrier devices (503). One or more memory devices (602) can store (e.g., as an index list, lookup table, and / or other suitable data structure) the positions of the barrier devices (503) so that one or more robot controllers (509) can quickly and accurately address the barrier actuators (505) to transmit these control signals for guiding (601) operations. One or more users (511) can update the positions of the barrier devices (503) in the memory device (602) as needed (such as when one or more barrier devices (503) are added, removed, or replaced from time to time).

[0090] In an example, one or more barrier sensors (507) facilitate a barrier controller (509) to obtain (607) data representing the position of one or more barrier devices (503) relative to a fixed position of a storage location (504) and / or a potential dynamic position of one or more items (2). In an example, the one or more barrier sensors (507) include one or more motor encoders (420) of a barrier actuator (505), one or more torque sensors (425), one or more range-finding and / or other optical or electromagnetic wave property-based sensors (430), one or more motion sensors (36), one or more computer vision devices (26), and one or more 3D scanners (40) for acquiring barrier device (503) position data and other useful operational status data and transmitting it to the one or more barrier controllers (509). In an embodiment where the obtaining (607) step is implemented in the system (501) and / or otherwise performed by software (606), the one or more robot controllers (109) execute computer-executable instructions stored in a module (608) for obtaining.

[0091] In this example, one or more barrier controllers (509) direct (601) autonomous movement of one or more barrier devices (503) to alternately open (603) or close (605) in response to obtaining (607) position data of the barrier devices (503) from one or more sensors (507). In this example, the one or more barrier controllers (509) direct (201) autonomous movement of the one or more barrier devices (503) based on determining (619) the position of the one or more barrier devices (503). The one or more barrier controllers (509) obtain (607) the position data of the barrier devices (503) from one or more barrier sensors (507) before determining (621) an actuation event of the barrier devices (503), at a time close to the event, substantially simultaneously with the event, and / or at a time after the event. In an example, determining (621) an actuation event for a barrier device (503) is based on data (607) obtained from one or more barrier sensors (507) (detecting the presence of one or more gantry robots (14) in proximity to the one or more barrier devices (503)) and / or signals received from one or more users (511) of the system (501) (to initiate opening (603) or closing (605) the one or more barrier devices (503)). In an example, determining (621) an actuation event for a barrier device (503) includes one or more barrier controllers (509) determining (623) a timing of the actuation event (e.g., to correspond to a near or future time at which the gantry robot (14) and / or the barrier robot (113) will operate according to the embodiments shown and described above with reference to the system (1) and / or the system (101), respectively). In embodiments where one or more determination steps (621 and / or 623) are implemented in the system (501) and / or otherwise performed by software (606), one or more robotic controllers (109) respectively execute computer executable instructions stored in one or more modules (608) for position determination and / or timing determination.

[0092] Upon determining (621) an actuation event for a barrier device (503), one or more barrier controllers (509) address (625) one or more corresponding barrier devices (503) in a retail store environment (4) for the actuation event for the barrier device (503). The one or more barrier controllers (509) determine (619) a position (e.g., open vs. closed) of the barrier devices (503) addressed (625). If the one or more barrier controllers (509) determine (619) using a logic branch (615) that the addressed (625) barrier device (503) to be opened (603) is in the closed position, the logic branch (615) directs the one or more barrier controllers (509) to transmit (609) a control signal (611) to open (603) the barrier device (503) to one or more barrier actuators (505) of the respective addressed (625) barrier devices (503). Otherwise, the one or more barrier controllers (509) of the logic branch (615) return to the obtain (607) step. Alternatively, if the one or more barrier controllers (509) determine (619) using the logic branch (617) that the barrier device (503) addressed (625) to be closed (605) is open, then the logic branch (617) directs the one or more barrier controllers (509) to transmit (609) a control signal (613) to close (605) the barrier device (503) to the one or more barrier actuators (505) of the respective addressed (525) barrier devices (503). Otherwise, the logic branch (617) directs the one or more barrier controllers (509) back to the obtain (607) step in the system (501). In embodiments where the addressing (625) step is implemented in the system (501) and / or otherwise performed via software (606), the one or more robotic controllers (109) execute computer-executable instructions stored in the module (608) for addressing. In this manner, the one or more barrier controllers (509) continuously monitor one or more positions of the one or more barrier devices (503) to ensure prompt and accurate responses to determinations (621) of actuation events of the barrier devices (503), while maintaining safe and efficient operations and experiences for customers (6) in the retail store environment (4).

[0093] In an embodiment, one or more sensors (507) facilitate the barrier controller (509) to obtain (607) data indicating the presence of actual or potential obstructions (69) to the autonomous movement of the barrier device (503) along the entire range of its open to closed position movement path (99), e.g. 13A to 13DAs shown. In an example, the one or more barrier controllers (509) further facilitate determining (627) the presence of an obstruction (69) to the open-to-closed position movement path (99) based on data obtained (607) from the one or more sensors (507). In an example, the one or more barrier controllers (509) direct (601) autonomous movement of the one or more barrier devices (503) in response to determining (627) the presence of the obstruction (69) to the open-to-closed position movement path (99) to push (639) the obstruction (69) out of the open-to-closed position movement path (99).

[0094] In an example, upon determining the presence of an obstacle (69) to the open-to-closed position movement path (99) using a logic branch (629), one or more barrier controllers (509) direct (601) autonomous movement of one or more barrier robots (113) to push (639) the obstacle (69) out of the open-to-closed position movement path (99). Otherwise, upon determining (627) the absence of an obstacle (69) to the open-to-closed position movement path (99) by one or more barrier controllers (509), a logic branch (629) operates in the system (501) to cause the one or more barrier controllers (509) to return to the determining (627) step in the system (501). In an embodiment where the determining (627) and / or pushing (639) steps are implemented and / or otherwise performed in the system (501) by software (606), the one or more barrier controllers (509) execute computer executable instructions stored in a module (608) for obstacle determination and / or pushing, respectively. In this manner, one or more barrier controllers (509) continuously monitor the open-to-closed position movement path (99) of one or more barrier devices (503) and / or areas proximate the open-to-closed position movement path (99) for the presence of actual or potential obstacles (69) that may impede or otherwise undesirably affect the movement of one or more barrier devices (503), and take responsive action as needed to ensure continuous, safe, and efficient retail work operations of the barrier devices (503) in the retail store environment (4).

[0095] In an example, one or more sensors (507) are located in a field of view of the drive path (141) and / or the space (123) for sensing the presence of one or more obstructions (69) to the path of movement (99) from the open position to the closed position. In another example, one or more sensors (507) are located in and / or on and / or near a storage location (504) of a store (10) that is not accessible to a customer (6) for sensing the presence of one or more obstructions (69) to the path of movement (99) from the open position to the closed position. In yet another example, one or more sensors (507) are located on and / or in one or more items (2) for sensing the presence of one or more obstructions (69) to the path of movement (99) from the open position to the closed position. In these examples, the one or more barrier controllers (509) also facilitate determining (627) the presence of one or more obstacles (69) based on data obtained (607) from one or more motor encoders (420), one or more torque sensors (425), one or more odometry and / or other light or electromagnetic wave property based sensors (430), one or more motion sensors (36), one or more computer vision devices (26), and / or one or more 3D scanners (40).

[0096] In a use case, an obstacle (69) includes a portion of an item (2) that extends past a boundary (435) of a storage location (504) to overhang a floor (137), as detected by a sensor (507). In an example, one or more users (511) specify a maximum allowable overhang distance value for the item (2) that can extend beyond the boundary (435) of the storage location (504) and store it in a memory device (602). In this example, one or more barrier controllers (509) and / or one or more sensors (507) read this value for use in determining (627) steps and logic branching (629) operations.

[0097] Figure 13A and Figure 13C as well as Figure 13B and Figure 13D A side view and a front view of a storage location (504) unit of a storage (10) that is not accessible to a customer (6) are shown, respectively. Figure 13A and Figure 13B In the view of , because the item (2) does not extend beyond the boundary (435) of the storage location (504), the one or more sensors (507) have not detected and the one or more barrier controllers (509) have not determined (627) the presence of the obstruction (69) that opens the path of movement (99) to the closed position. In contrast, in Figure 13C and Figure 13DIn the view of FIG, since the item (2) does extend beyond the boundary (435) of the storage location (504), the sensor (507) has detected and the barrier controller (509) has determined (627) the presence of an obstacle (69) in the open to closed position movement path (99). In the latter case, the barrier device (503) is prevented from moving from the open position (503a) to its fully closed position (503b) by the obstacle (69) and therefore assumes only a partially closed (e.g., intermediate) position (503c) without implementing corrective measures.

[0098] In an example, the one or more barrier controllers (509) further facilitate determining (631) the ability of the barrier device (503) to fully move (e.g., push (639)) the barrier (69) back to or into the storage position (504) and move (e.g., push (639)) the barrier (69) out of the open-to-closed position movement path (99) based on data indicating the presence of the barrier (69). In this example, the process of determining (631) the ability of the one or more barrier controllers (503) to move the barrier (69) out of the open-to-closed position movement path (99) utilizes a logical branch (633). If the one or more barrier controllers (509) determine (631) that the barrier device (503) is able to move the barrier (69), the one or more barrier controllers (509) direct (601) autonomous movement of the one or more barrier devices (503) to fully push the barrier (69) back to or into the storage position (504) and out of the open-to-closed position movement path (99).

[0099] Otherwise, when the one or more barrier controllers (509) determine (627) that the barrier device (503) is unable to move the barrier (69) out of the open-to-closed position movement path (99), the one or more barrier controllers (509) further facilitate providing (635) an indication (e.g., light, sound, and / or message) to one or more users (511) of the system (501) that the barrier (69) needs to be manually moved (637) out of the open-to-closed position movement path (99). In this manner, the one or more barrier controllers (509) perform responsive actions and / or provide notification to the one or more users (511) regarding the barrier (69) in the open-to-closed position movement path (99) and / or in an area proximate to the open-to-closed position movement path (99) to ensure continuous, safe, and effective retail operation of the barrier device (503) in the retail store environment (4).

[0100] In a use case, the barrier device (503) makes a determination (631) based on the results of one or more push attempts of one or more obstacles (69) whether the barrier device (503) can move (e.g., push) the obstacle (69). In this case, the one or more barrier controllers (509) transmit (609) one or more push attempt control signals (641) to increase the flow of electrical power to the one or more actuators (505), including in an iterative step-wise manner and / or for a predetermined number of push attempts, and to a maximum applied electrical power value, each of which can be specified by one or more users (511) and / or the system (501) manufacturer and can be stored in the memory device (602) for this purpose. In this example, the one or more robot controllers (509) use a logic branch (643) and determine whether the push (639) of the one or more push attempts was successful based on the sensor (507) data obtained (607). If the push attempt was successful, the logic branch (643) operates to cause the system (501) to return to obtaining (607). Otherwise, upon determining (631) that the barrier (69) cannot be moved to a non-overhanging position on or in the storage location (504) or otherwise moved out of a compliant position, the one or more barrier controllers (509) also facilitate providing (635) to one or more users (511) the aforementioned indication that the barrier (69) needs to be manually conveyed (637) out of the open-to-closed position movement path (99).

[0101] In another use case, instead of or in addition to providing (635) an instruction to one or more users (511) of the system (501), one or more barrier controllers (509) transmit a signal to one or more controllers (e.g., a robot controller (18) of the system (1)) to call one or more gantry robots (14) to move the determined (621) obstacle (69) out of the open-to-closed position movement path (99). Similarly, instead of or in addition to providing (635) an instruction to one or more users (511) of the system (501), one or more barrier controllers (509) transmit a signal to one or more controllers (e.g., a robot controller (109) of the system (101)) to call one or more barrier robots (113) to restrict access to the floor (137) proximate to the location of the determined (621) obstacle (69).

[0102] The robotic replenishment and safety system for automated retail store environments disclosed herein provides multiple beneficial technical effects and achieves various advantages over known robotic replenishment and operational safety systems and methods. These benefits include, but are not limited to, more efficient use of storage space, physical infrastructure, and computing resources, network bandwidth, and memory storage capacity; providing for cheaper and more user-friendly installation, operation, and maintenance; consuming less power; being safer and less disruptive to users, shoppers, and employees in retail stores and other usage environments; allowing for use with multiple different items, packaging configurations, delivery modes, and POS configurations; being interoperable with a variety of existing store equipment; and having the ability to utilize multiple data communication protocols.

[0103] The various embodiments disclosed herein should be considered illustrative and explanatory and should in no way be construed as limiting the present disclosure. Although various aspects of the present disclosure have been specifically shown and described with reference to the above-described embodiments, it should be understood by those skilled in the art that various additional embodiments may be envisioned based on modifications of the disclosed apparatus, systems, and methods without departing from the spirit and scope of the disclosure. It should be understood that such embodiments fall within the scope of the present disclosure as determined based on the claims and any equivalents thereof.

Claims

1. A system for securing items in a retail store environment having a customer-accessible point-of-sale (POS) location for the items and customer-inaccessible storage including a storage location for storing one or more of the items, the system comprising: a barrier device operatively coupled to at least a portion of the storage locations for alternately enabling and restricting access to the storage locations; a barrier actuator operably coupled to: the barrier device, and at least a portion of the storage location; a barrier controller in communication with the barrier actuator for directing autonomous movement of the barrier device to facilitate alternating opening and closing of the barrier device; as well as one or more sensors in communication with the barrier controller, wherein alternating opening and closing of said barrier device facilitates alternating enabling and restricting said access to said storage location; and The system further comprises: Installation platform; a gantry robot operably coupled to the mounting platform; a robotic controller in communication with the gantry robot for directing autonomous movement of the gantry robot to facilitate transfer of the items by the gantry robot from the customer-inaccessible storage to the customer-accessible POS location in response to determining that the number of items in the customer-accessible POS location has decreased below a user-predetermined value; and one or more sensors in communication with the robot controller; wherein the robot controller further facilitates directing the autonomous movement of the gantry robot to alternately open and close the barrier device, and Wherein the at least one barrier controller further facilitates determining the presence of one or more obstacles based on data obtained from at least one motor encoder, at least one torque sensor, at least one odometry and / or other sensor based on light or electromagnetic wave properties, at least one motion sensor, at least one computer vision device and / or at least one 3D scanner.

2. The system of claim 1, wherein: The one or more sensors facilitate the robotic controller to obtain data representing the quantity of the items in the customer-accessible POS location; and The robotic controller directs the autonomous movement of the gantry robot in response to the data obtained from the one or more sensors to further facilitate the transfer of the items from the non-customer accessible storage to the customer accessible POS location.

3. The system of claim 1 , wherein: the one or more sensors facilitating the robotic controller to obtain data indicative of the presence of actual or potential obstacles to the autonomous movement of the gantry robot within a space defined, at least in part, by a predetermined distance from the customer-accessible POS location; and The robotic controller further facilitates determining the presence of the obstacle within the space based on the data obtained from the one or more sensors.

4. The system of claim 3 , wherein in response to determining the presence of the actual or potential obstacle within the space, the robotic controller further directs the autonomous movement of the gantry robot to do at least one of the following: transporting the obstacle out of the space; stop; and detour.

5. The system of claim 3, wherein: The actual or potential obstructions include heat sources; The one or more sensors further facilitate the robotic controller to obtain data indicative of the presence of the heat source within the space; and The robotic controller also facilitates determining the presence of the heat source within the space based on the data obtained from the one or more sensors.

6. The system of claim 3, wherein: The actual or potential obstacles include moving objects; The one or more sensors further facilitate the robotic controller to obtain data indicative of the presence of movement of the mobile object within the space; and The robotic controller further facilitates determining the presence of the movement within the space based on the data obtained from the one or more sensors.

7. The system of claim 3, wherein: The actual or potential obstacles include stationary objects; The one or more sensors further facilitate the robotic controller to obtain data indicative of the presence of the stationary object within the space; and The robotic controller further facilitates determining the presence of the stationary object within the space based on the data obtained from the one or more sensors.

8. The system of claim 3, wherein: In response to determining the presence of the actual or potential obstacle within the space, the robotic controller further facilitates determining an ability of the obstacle to be moved out of the space by the gantry robot based on the data representing the presence of the actual or potential obstacle; as well as If the obstacle is determined to be capable of being moved out of the space by the gantry robot, the robot controller directs the autonomous movement of the gantry robot to transport the obstacle out of the space; Otherwise, the robot controller further facilitates at least one of the following: providing an indication to a user of the system that the obstacle needs to be manually transported out of the space; and The autonomous movement of the gantry robot is also directed to perform at least one of: stopping and detouring.

9. The system of claim 1 , wherein the mounting platform comprises a plurality of branch rails, each of the plurality of branch rails comprising a safety stop positioned at an end of the branch rail for preventing the gantry robot from moving beyond a point defined by the safety stop.

10. A system for securing items in a retail store environment having a customer-accessible point-of-sale (POS) location for the items and customer-inaccessible storage including a storage location for storing one or more of the items, the system comprising: a barrier device operatively coupled to at least a portion of the storage locations for alternately enabling and restricting access to the storage locations; a barrier actuator operably coupled to: the barrier device, and at least a portion of the storage location; a barrier controller in communication with the barrier actuator for directing autonomous movement of the barrier device to facilitate alternating opening and closing of the barrier device; one or more sensors in communication with said barrier controller, wherein alternating opening and closing of said barrier device facilitates alternating enabling and restricting said access to said storage location; Installation platform; as well as a gantry robot operably coupled to the mounting platform; wherein the barrier controller is further in communication with the gantry robot for directing autonomous movement of the gantry robot within the storage location, the gantry robot being configured to transfer items from within the storage location to the customer-accessible point-of-sale location; wherein the barrier controller is further configured to guide the gantry robot to alternately open and close the barrier device; The system further comprises: a mobile barrier robot positioned on the floor of said retail store environment having a point-of-sale location accessible to said customers; a robotic controller in communication with the barrier robot and configured to direct autonomous movement of the barrier robot to facilitate positioning the barrier robot on the floor so as to restrict access to areas of the space in the retail store environment where retail work operations are conducted while allowing access to areas of the space where retail work operations are not conducted; and One or more robotic sensors operably coupled to the barrier robot and in communication with the robotic controller.

11. The system of claim 10, wherein: The one or more sensors facilitate the robotic controller to obtain data representing a position on the barrier robot on the floor; and The robotic controller, in response to the data obtained from the one or more sensors, directs the autonomous movement of the barrier robot to further facilitate positioning the barrier robot on the floor proximate the space before or during the retail work operations in the space.

12. The system of claim 10, wherein: The one or more robot sensors facilitate the robot controller to obtain data indicative of the presence of an actual or potential obstacle in at least one of the following: a drive path of the barrier robot proximate the floor; and near the space; and The robotic controller further facilitates determining the presence of the obstacle at least one of: proximate the drive path, and proximate the space based on the data obtained from the one or more robotic sensors.

13. The system of claim 12 , wherein in response to determining the presence of the actual or potential obstacle at least one of: proximate the drive path and proximate the space, the robot controller further directs the autonomous movement of the barrier robot to at least one of: conveying the obstacle out of the drive path; transporting the obstacle out of the space; stop; and detour.

14. The system of claim 12, wherein: The actual or potential obstructions include heat sources; The one or more robotic sensors further facilitate the robotic controller to obtain data indicative of the presence of the heat source at least one of: proximate the drive path, and proximate the space; and The robotic controller further facilitates determining the presence of the heat source at least one of: proximate the drive path, and proximate the space based on the data obtained from the one or more robotic sensors.

15. The system of claim 12, wherein: The actual or potential obstacles include moving objects; The one or more robotic sensors further facilitate the robotic controller to obtain data indicative of the presence of movement of the mobile object in at least one of: proximity to the drive path, and proximity to the space; and The robotic controller further facilitates determining the presence of the movement in at least one of: proximate the drive path, and proximate the space based on the data obtained from the one or more robotic sensors.

16. The system of claim 12, wherein: The actual or potential obstacles include stationary objects; The one or more robotic sensors further facilitate the robotic controller to obtain data indicative of the presence of the stationary object at least one of: proximate the drive path, and proximate the space; and The robotic controller further facilitates determining the presence of the stationary object at least one of: proximate the drive path, and proximate the space based on the data obtained from the one or more robotic sensors.

17. The system of claim 12, wherein: In response to determining the presence of the actual or potential obstacle within the space at least one of: proximate the drive path and proximate the space, the robot controller further facilitates determining, based on the data representing the presence of the actual or potential obstacle, an ability of the barrier robot to move the obstacle out of at least one of: the drive path and the space; and If the obstacle is determined to be movable by the barrier robot out of at least one of: the drive path and the space, the robot controller directs the autonomous movement of the barrier robot to convey the obstacle out of at least one of: the drive path and the space; Otherwise, the robot controller further facilitates at least one of the following: providing an indication to a user of the system that the obstruction needs to be manually removed from at least one of: the drive path, and the space; and The autonomous movement of the barrier robot is also directed to perform at least one of: stopping and detouring.

18. The system of claim 10, wherein: The barrier robot includes a companion robot operably coupled to the barrier robot; and The robot controller guides the autonomous movement of the barrier robot and the companion robot close to the space as a paired robot unit.

19. The system of claim 18, wherein: In response to positioning the paired robotic units proximate the space, the robotic controller directs the autonomous movement of at least one of the barrier robot and the companion robot to separate from each other on the floor; and The separated barrier robot and companion robot together define a customer restricted area that restricts customers from accessing the space before or during the retail work operations in the space.

20. The system of claim 10, wherein the barrier robot comprises an deployable and retractable barrier operably coupled to the barrier robot.

21. The system of claim 20, wherein: The robot controller directs the autonomous movement of the barrier robot to: deploying the deployable-retractable barrier in response to positioning the barrier robot proximate the space before or during the retail work operations in the space; and In response to determining that the retail work operations in the space are completed or suspended, retracting the deployable-retractable barrier; and wherein the barrier robot and the deployable-retractable barrier together define a customer restricted zone when deployed, the customer restricted zone restricting customer access to the space before or during the retail work operations in the space.

22. The system of claim 10, wherein the retail store environment includes non-customer accessible storage having storage locations for storing one or more items, the non-customer accessible storage being located proximate to the space, wherein the system further comprises: a barrier device operatively coupled to at least a portion of the storage locations for alternately enabling and restricting access to the storage locations; as well as means for actuating said barrier device to facilitate alternating opening and closing of said barrier device, and Wherein alternatingly opening and closing the barrier device facilitates alternatingly enabling and restricting the access to the storage location.

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