Systems and methods for creating safe zones using mobile robots

Abstract

Systems and methods for creating safe zones at a facility using mobile robots are provided. In one form, the system may include a facility having a path and a guidance system for facilitating movement along the path, and a mobile robot configured to move along the path. Each mobile robot may include a mobility system for each mobile robot to move along the path and an extendable and retractable member for engaging supports of adjacent paths. The system may further include a support with a receiving portion that receives the extendable and retractable member of the mobile robot. In this system, a blocking position may be defined, wherein the receiving portion has received the extendable and retractable member of the mobile robot, thereby restricting the movement of the mobile robot and preventing other mobile robots from passing along the path occupied by the mobile robot at the blocking position.

Description

[0001] Cross-references to related applications This application claims the benefit and priority of U.S. Provisional Application No. 63 / 536,880, filed September 6, 2023, which is incorporated herein by reference in its entirety. Technical Field

[0002] This invention generally relates to safety zones in facilities, and more particularly to safety zones in facilities created by mobile robots. Background Technology

[0003] Automated Storage and Retrieval Systems (ASRS) are increasingly being used in order fulfillment scenarios. In some forms, these systems may include mobile robots that move around storage structures at order fulfillment facilities to pick up and transfer containers and items. Sometimes, mobile robots may become damaged or incapacitated. When a mobile robot becomes damaged or incapacitated, it may be necessary to shut down part or all of the facility to allow for the robot's handling.

[0004] There is a need to reduce the number of partial or complete shutdowns required to allow the handling of damaged or disabled mobile robots. Such handling may require human technicians to approach the mobile robot, which may be in an area where other mobile robots are traveling. In such cases, the facility may generally need to be partially or completely shut down to ensure personal safety. It is desirable to create a safety zone around a damaged or disabled mobile robot to allow individuals to approach it safely. Attached Figure Description

[0005] This document discloses embodiments of systems, apparatus, and methods for creating safe zones at facilities using mobile robots. This specification includes accompanying drawings, in which: Figure 1A This is a partial perspective view of an order fulfillment facility according to some embodiments; Figure 1B According to some embodiments Figure 1A A partial perspective view of the order fulfillment facility; Figure 2A is a schematic diagram of a security zone according to some embodiments; Figure 2B This is a schematic diagram of the security area in Figure 2A according to some embodiments; Figure 3 This is a schematic diagram of a security zone according to some embodiments; Figure 4 This is a schematic diagram of a security zone according to some embodiments; Figure 5 This is a schematic diagram of a security zone according to some embodiments; Figure 6This is a schematic representation of a mobile robot blocking system according to some embodiments; Figure 7 This is a side view of a mobile robot according to some embodiments; Figure 8 According to some embodiments Figure 7 A perspective view of the small gears of a mobile robot; Figure 9 According to some embodiments Figure 7 A partial cross-sectional view of the mobile robot; Figure 10 According to some embodiments Figure 7 A partial cross-sectional view of the mobile robot; Figure 11 According to some embodiments Figure 7 A partial perspective view of the mobile robot; Figure 12 This is a perspective view of a section of a track system according to some embodiments; Figure 13 This is a flowchart based on some embodiments; and Figure 14 This is a flowchart based on some embodiments.

[0006] The elements in the figures are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the size and / or relative positioning of some elements in the figures may be exaggerated relative to other elements to aid in understanding the various embodiments of the invention. Furthermore, common but well-known elements that are useful or necessary in commercially viable embodiments are generally not depicted to facilitate a less obstructive view of these different embodiments of the invention. Certain actions and / or steps may be described or depicted in a particular order of occurrence, and those skilled in the art will understand that such a specific limitation regarding the order is not actually necessary. The terms and expressions used herein have the ordinary technical meaning consistent with those given by those skilled in the art, unless otherwise set forth herein with a different specific meaning. Detailed Implementation

[0007] The following description should not be construed as limiting, but is given merely for the purpose of describing the general principles of exemplary embodiments. Throughout this specification, references to “one form,” “one embodiment,” “embodiment,” “some embodiments,” “implementation,” “some implementations,” “some applications,” or similar language mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this disclosure. Therefore, the phrases “in one embodiment,” “in an embodiment,” “in some embodiments,” “in some implementations,” and similar language appearing throughout the specification do not all refer to the same embodiment.

[0008] The terms “top” and “bottom”, “upper” and “lower”, and “vertical” and “horizontal” as used herein are for illustrative purposes only and are not intended to limit the description of the embodiments, as the mentioned items may be interchanged in position and orientation. Furthermore, as used herein, the terms “substantially” and / or “about” mean that the specified dimensions or parameters may vary within acceptable manufacturing tolerances for a given application.

[0009] Generally speaking, according to various embodiments, this document provides systems, apparatus, and methods for creating safe zones at a facility using mobile robots. In one form, the system includes: a facility having multiple paths and a guidance system for facilitating movement along the multiple paths; a plurality of mobile robots configured to move along the multiple paths at the facility, each mobile robot including: a motion system configured to cooperate with the guidance system to facilitate movement of each mobile robot along the multiple paths; and an extendable and retractable member configured to engage supports of adjacent paths. The system further includes: a plurality of supports having receiving portions configured to receive the extendable and retractable members of the mobile robots; and a blocking position, wherein the receiving portions have received the extendable and retractable members of the mobile robots, thereby restricting the movement of the mobile robots and preventing other mobile robots from passing along the paths occupied by the mobile robots at the blocking position.

[0010] In some embodiments, the system includes an order fulfillment facility comprising multiple storage locations configured to store containers containing goods, each accessible via a path; and multiple mobile robots configured to approach the storage locations to store or retrieve containers at the storage locations. In some embodiments, each mobile robot has a sensor configured to detect when the mobile robot is in a blocked position, and when an extendable and retractable member has been extended from the mobile robot, that the extendable and retractable member engages a receiving portion. In some embodiments, the guidance system includes: a track having at least one guide rail for engagement by the motion system of each mobile robot; and / or a guide line disposed in the path to facilitate navigation of each mobile robot. In some embodiments, the extendable and retractable member includes an axis, and the receiving portion includes a channel configured to receive the axis therein. In some embodiments, the mobile robot includes a second extendable and retractable member; and in the blocked position, the second receiving portion has received the second extendable and retractable member of the mobile robot. In some embodiments, the mobile robot is configured to be electrically charged when in a blocking position via engagement of the mobile robot's charging assembly with a charging portion coupled to a support. In some embodiments, the mobile robot further includes a motor, and the mobile robot deactivates the motor after it is in a blocking position. In some embodiments, the system further includes control circuitry configured to: identify locations within a safe zone; instruct mobile robots in the safe zone to leave the safe zone; instruct at least one mobile robot to block at least one approach point to the safe zone; and confirm the position of at least one robot at the at least one approach point. In some embodiments, the control circuitry is further configured to: determine locations of a plurality of approach points to the safe zone according to a blocking plan; and instruct a plurality of mobile robots to move to the locations of the plurality of approach points to enter the blocking positions at those locations.

[0011] In another form, a method for creating a safe zone at a facility using mobile robots is provided. The method includes: providing a plurality of mobile robots configured to move along multiple paths at the facility and having a guidance system for facilitating movement along the multiple paths; each mobile robot including: a motion system configured to cooperate with the guidance system to facilitate movement of each mobile robot along the multiple paths; and an extendable and retractable member configured to engage supports of adjacent paths. The method further includes: providing a plurality of supports having receiving portions configured to receive the extendable and retractable members of the mobile robots; and at a blocking position, receiving the extendable and retractable members of the mobile robots in the receiving portions; and at the blocking position, restricting the movement of the mobile robots and preventing other mobile robots from passing along the paths occupied by the mobile robots at the blocking position.

[0012] In some embodiments, regarding the method, the facility includes an order fulfillment facility comprising a plurality of storage locations configured to store containers containing goods, each accessible via a path; and a plurality of mobile robots configured to approach the plurality of storage locations to store or retrieve containers at the plurality of storage locations. In some embodiments, the method further includes: detecting, via sensors of the mobile robots, that the extendable and retractable member engages the receiving portion when the extendable and retractable member has extended from the mobile robot and when the mobile robot is in a blocking position. In some embodiments, the guidance system includes: a track having at least one guide rail for engagement by the motion system of each mobile robot; and / or a guide line disposed in the path to facilitate navigation of each mobile robot. In some embodiments, the extendable and retractable member includes an axis, and the receiving portion includes a channel configured to receive the axis therein. In some embodiments, the mobile robot includes a second extendable and retractable member, and the method further includes: receiving the second extendable and retractable member of the mobile robot via the second receiving portion in a blocking position. In some embodiments, the method further includes: when in a blocking position, charging the mobile robot by engaging a charging component of the mobile robot with a charging portion coupled to a support. In some embodiments, the mobile robot further includes a motor, and the method further includes: deactivating the motor after the mobile robot is in a blocking position. In some embodiments, the method further includes, via control circuitry: identifying the location of a safe zone; instructing a mobile robot in the safe zone to leave the safe zone; instructing at least one mobile robot to block at least one approach point to the safe zone; and confirming the position of at least one robot at the at least one approach point. In some embodiments, the method further includes, via control circuitry: determining the locations of a plurality of approach points to the safe zone according to a blocking plan; and instructing a plurality of mobile robots to move to the locations of the plurality of approach points to enter the blocking position at those locations.

[0013] In one aspect, and not in a limiting sense, this disclosure generally relates to a facility, such as an order fulfillment facility, comprising multiple mobile robots that operate within an automated storage and retrieval system to pick up and transfer containers. In one form, the mobile robots move around the facility and retrieve containers or handling boxes of goods stored at specific storage locations within the facility as part of an automated storage and retrieval system. Occasionally, the mobile robots may become damaged, incapacitated, or otherwise cease to function in a manner expected. When this occurs, it may be necessary to shut down some or all of the facility when the mobile robots are removed, repaired, or otherwise disposed of.

[0014] In one respect, and not in a limiting sense, it may be desirable to minimize the number of partial or complete system shutdowns required in abnormal situations involving mobile robots. Some accident scenarios may require individuals, such as technicians, to physically enter a part of the system to handle the mobile robot. In such cases, the system and / or facilities may be partially or completely shut down to ensure the safety of the individuals.

[0015] In one aspect, and not in a limiting sense, this disclosure provides for defining a safety zone around an area requiring personal intervention by utilizing a mobile robot present in or near the area as a barrier. Generally, the mobile robot can position itself to block different access points to the accident area, thereby creating a safety zone. Once positioned, the mobile robot can establish a barrier pattern and blocking position in which its motor(s) can be deactivated and its pinion can extend to engage adjacent structures on each side to lock itself in place. One or more sensors on the mobile robot (such as safety-rated sensors) can confirm that its pinion is engaged and locked and that it is correctly in the blocking position. If the sensors(s) detect that the pinion has disengaged, control circuitry at the mobile robot communicating with the sensors(s) can initiate an emergency stop (e-stop) of the system, i.e., causing a complete halt to the system.

[0016] In one aspect, and not in a limiting sense, a safety controller (referred to as a safety programmable logic controller (PLC)) on each mobile robot can place the robot into its “safe state” (where the pinion is extended and the motor is deactivated) and can monitor the robot in that “safe state.” One or more safety-rated sensors on the mobile robot can allow the safety PLC to know the position of the pinion and, if the pinion is not properly positioned (i.e., not in a “safe state”), the system can stop urgently. The master safety controller (referred to as the master safety PLC (MSPLC)) generally controls the overall operation: confirming that the barrier robot is in place before technicians enter the area, and then instructing relevant personnel to leave after they have completed troubleshooting (such as by repairing or removing a fallen mobile robot).

[0017] Figure 1AA partial view of an embodiment of the order fulfillment facility 100 is shown, illustrating a storage structure 102 including multiple compartments 104 of storage locations 106. Specifically, each compartment 104 includes a yz array of storage locations 106 in a horizontal row and a tiered or vertical tower along the row. As explained below, a mobile robot 150 can travel between storage tiers in the z-direction within the tiered tower. Pairs of compartments 104 can be arranged facing each other, separated by paths 108. In one form, the path is envisioned as an aisle 108. The aisle 108 can be wide enough that a mobile robot 150 traveling within the aisle 108 can transfer a transport box to a compartment 104 on either side of the aisle 108. As explained below, the aisle 108 can be wide enough to allow personnel access to the aisles 108 between compartments 104 for repair or other maintenance of components within the aisle 108.

[0018] The order fulfillment facility 100 may further include partitions 112 (or transfer planes or areas) spaced apart at different horizontal levels of the storage structure 102. The partitions 112 may extend between aisles 108, allowing the robot 150 to be deployed in the xy-plane of each partition 112 to travel between different aisles 108. In some embodiments, the partitions 112 may be vertically spaced apart from each other, allowing technicians access to all areas within an aisle 108 served by a particular partition 112. In various embodiments, the spacing between the partitions 112 may vary. In addition to providing access to the aisles 108, each pair of partitions 112 allows the mobile robot 150 to move to / from workstation 110. In some forms, the mobile robot 150 may come to workstation 110 from a first partition 112-1, and the mobile robot 150 may leave workstation 110 from a second partition 112-2. Alternatively, in some forms, the mobile robot 150 can come to the workstation 110 from the partition 112-2 and leave from the first partition 112-1.

[0019] Figure 1B An example of workstation 110 is shown. In some embodiments, each workstation 110 is equipped to receive a pair of mobile robots 150. A first mobile robot 150 at workstation 110 may carry a product container (or transport box) containing items for fulfilling product requests. A second mobile robot 150 at workstation 110 may carry an order container (or transport box) in which items from the product transport box are placed to fulfill product requests. Workers at workstation 110 manually transfer items from the product transport box to the order transport box under the guidance of an inventory control system at workstation 110.

[0020] Mobile robots 150, used for both product and order transport boxes, arrive from one of the partitions (e.g., partition 112-1). Once items are transferred from the product transport box to the order transport box, mobile robot 150 can leave workstation 110, for example, via partition 112-2. Mobile robots 150 carrying both product and order transport boxes continuously cycle through workstation 110. Figure 1A In this embodiment, each workstation 110 is served by a single partition 112, which serves as entry into and exit from the workstation 110. Further details regarding the structure and operation of embodiments of the workstations are disclosed in U.S. Patent No. 10,040,632, entitled "Automated System for Transporting Payloads," issued August 7, 2018, and U.S. Patent No. 11,142,398, entitled "Order Fulfillment System," issued October 12, 2021, both of which are incorporated herein by reference in their entirety. For the purposes of this art, it is conceivable that some malfunction may occur at or around aisle 108, partition 112, or workstation 110, which would require the services explained below.

[0021] As noted above, the order fulfillment facility 100 may further include a plurality of mobile robots 150 for transferring and moving boxes or other product containers to and from storage locations 106 in workstations 110 and compartments 104. In some embodiments, the mobile robots 150 may be self-guided for horizontal movement within aisle 108 to transfer boxes or other product containers between the mobile robots 150 and storage locations 106. For example, a track system including horizontal guides may be attached to compartments 104 within aisle 108 at different vertical levels. The horizontal guides provide access to storage shelves on either side of aisle 108 in the x-direction at a given level. As noted above, compartment 104 may include a tiered tower within which the mobile robots 150 may travel vertically in the z-direction between levels of storage locations 106.

[0022] In another form, the track system may be in the form of guide wires, such as magnetic guide lines, which may include navigation aids such as RFID tags. Thus, the track system may include horizontal rails, guide wires, and / or some combination thereof. In one example, horizontal rails may be used in aisle 108, while guide wires may be embedded in at least some of the panels forming partitions 112. Further details of guide wires and panels that can be used to facilitate navigation of mobile robot 150 are described, for example, in U.S. Application No. 63 / 472,885, filed June 14, 2023, which is incorporated herein by reference in its entirety.

[0023] The partition 112 allows the mobile robot 150 to travel between aisles at different levels of the storage structure 102. Further details of the storage structure, track system, and mobile robot 150 that can be used in conjunction with this technology are described, for example, in the following U.S. patents: U.S. Patent No. 9,139,363, entitled “Automated System for Transporting Payloads,” granted September 22, 2015; U.S. Patent No. 10,435,241, entitled “Storage and Retrieval System,” granted October 8, 2019; and U.S. Patent No. 11,142,398, entitled “Order Fulfillment System,” granted October 12, 2021, the aforementioned patents; each of these patents is incorporated herein by reference in its entirety.

[0024] Therefore, in some forms, a facility 100 is disclosed having a path 108 and a guidance system for facilitating movement along the path 108. The guidance system may include: a track having at least one guide rail for engagement by the motion system of each mobile robot; and / or guide lines disposed in the path 108 to facilitate navigation of each mobile robot. Facility 100 may be in the form of an order fulfillment facility including storage locations 106 for storing containers containing goods, wherein each storage location 106 is accessible via the path 108. Furthermore, a mobile robot 150 is configured to approach the storage location 106 to store or retrieve containers at the storage location 106.

[0025] The aforementioned order fulfillment facility 100 is an example of facility 100 in which mobile robots 150 move around facility 100 to perform certain tasks. During this movement, mobile robots 150 may encounter situations that cause them to malfunction, become incapacitated, or otherwise require repair. These situations may be internal (such as internal component failure) or external (such as encountering obstacles). In these situations, it is desirable to localize the problem by establishing local safety zones, so that it is not necessary to shut down the entire facility (or most of it). Schemes involving the use of safety gates have been proposed, such as those described in U.S. Patent No. 11,623,342, entitled “Configurable Service Isolation Zones for Service of Equipment Employing Moile Robots,” issued April 11, 2023, which is incorporated herein by reference in its entirety. The scheme described in this disclosure generally involves the use of a mobile robot 150 in facility 100 to create a safe zone around a damaged, disabled, malfunctioning, or nonfunctional mobile robot 150 until it can be repaired or removed to the safe zone.

[0026] Figure 2 to Figure 5 A schematic example of a safe zone created by a mobile robot in different areas of a facility is shown. Figure 2A and Figure 2B The safety zone 200, indicated by dashed lines, is shown, in which the damaged mobile robot 204 is located in aisle 202. Figure 2A shows a top view of four aisles 202 (including one aisle 202 with the damaged mobile robot 204), and Figure 2B A side view of a passageway 202 with a damaged mobile robot 204 is shown. In this example, an outer boundary 206 is envisioned, through which the mobile robot cannot move but which a technician can pass or traverse in some way. Furthermore, in this example, a partition 208 is present adjacent to the end of the passageway 202, and a tiered tower 210 (with charging rails) is present at the end of the passageway 202. In this example, as shown in Figure 2A, three undamaged mobile robots 212 may be present in a blocking position at the right end of the passageway 202. The left end of the passageway 202 where the damaged mobile robot 204 is located may remain open to allow for a path for removing or retrieving the robot 204. Alternatively, although not shown, an undamaged mobile robot 212 may be present positioned at the left end of the passageway 202 where the damaged mobile robot 204 is located.

[0027] In addition, such as Figure 2BAs shown, two mobile robots 212 can be positioned in blocking locations to restrict the vertical movement of mobile robot 204 from above or below through the tiered tower 210 to the passageway 202. Alternatively, in another form, mobile robots 212 may not be used to block the tiered tower 210; instead, the tiered tower 210 may include walkways that can be closed to prevent vertical movement into the safety zone 200. In some forms, it is envisioned that walkways may intersect and cross the tiered tower 210 and may also be used within facility 100 to access different tiers. These walkways may generally include access devices (such as doors, gates, or other mechanical barriers) that can be closed to block vertical movement through the tiered tower 210. In some forms, it is generally desirable to use walkways and / or mobile robots 212 at various blocking locations to block access to a damaged mobile robot 204. Figure 2B The various access points (not shown) are arranged so that only technicians can approach the damaged mobile robot 204. In this way, the movement and activities of the mobile robot can continue in the rest of the facility 100.

[0028] Figure 3 A safety zone 300, generally defined by a partition 308 (or transit plane), is shown, with the damaged mobile robot 304 located on the partition 308. In this example, it is envisioned that there is a side of the partition 308 through which the mobile robot cannot move, but which a technician can somehow pass through or traverse (or that there is some form of worker access 309 on one side of the partition 308). Furthermore, in this example, the partition 308 is adjacent to the end of the passageway 302. In this example, as can be seen, ten undamaged mobile robots 312 may be positioned in a blocking position at the end of the passageway 302. In this example, it is envisioned that a technician can remove the damaged mobile robot 304 through a remaining open passageway 302 and along a path used for retrieval of the damaged mobile robot 304. Alternatively, although not shown, if repairs were to be performed on the partition 308, the undamaged mobile robots 312 might block this remaining open passageway 302.

[0029] Figure 4A safety zone 400 is shown, in which a damaged mobile robot 404 is located in a passageway 403 of workstation 405. In one form, workstation 405 may be a static or stationary workstation, one of several workstations in the area. The passageways at or near these workstations 405 may be main input and output passageways, and it is desirable to prevent obstruction of such high-priority passageways. A disabled mobile robot 404 in this area can significantly reduce workflow through each workstation 405 in the passageway 403, and can effectively stop all work through those workstations 405. In this example, it is envisioned that a technician can enter the passageway 403 from the right side. Furthermore, in this example, walkway 407 is closed to block vertical access to the passageway 403. Alternatively, in other forms, an undamaged mobile robot may be positioned in a blocking location to restrict access to the area via the tiered tower 410. In this example, it is envisioned that a technician can remove a damaged mobile robot 404 along a recycling path that returns to the worker entry point 409 on the right side of passage 403.

[0030] Figure 5 A safety zone 500 is shown, in which a damaged mobile robot 504 is located in a passageway 503 for a workstation 505. In one embodiment, workstation 505 may be a dynamic workstation for fulfilling orders. In this example, it is envisioned that a technician can access passageway 503 on the left side of the figure. In one embodiment, it is envisioned that a technician can access passageway 503 via partition 508. Furthermore, in this example, walkway 507 is closed to block vertical access to passageway 503. Alternatively, in other embodiments, an undamaged mobile robot may be positioned in a blocking location to restrict access to the area via a tiered tower 510. In this example, it is envisioned that a technician can remove the damaged mobile robot 504 along a retrieval path that returns to the worker entry point on the left side of passageway 503.

[0031] Figure 6 A schematic diagram of a mobile robot blocking system 600 is shown, in which a mobile robot 602 is in a blocking position. It is generally envisioned that the mobile robot 602 can operate independently or as one of several mobile robots working together to create a safety zone. Furthermore, it is envisioned that the mobile robot is located at a facility (such as the aforementioned order fulfillment facility 100) having multiple paths 108 and a guidance system (such as the aforementioned track system) for facilitating movement along the multiple paths 108. The mobile robot 602 is one of several mobile robots configured to move along the paths 108 at the facility.

[0032] The mobile robot 602 may include various components such as a motion system 604, one or more extendable and retractable members 606, one or more sensors 608, one or more motors 610, a charging assembly 612, a controller 613, and a safety controller 615. The mobile robot 602 includes a motion system 604 that interacts with a guidance system to facilitate movement along multiple paths 108. It also includes an extendable and retractable member 606 that engages supports adjacent to the paths 108. Generally, it is envisioned that when in a blocked position, this member 606 can extend to lock the mobile robot 602 into a blocked position.

[0033] System 600 also includes one or more support members 614 having a receiving portion 616 that receives the extendable and retractable member 606 of the mobile robot 602. In one form, the support member 614 may be the aforementioned vertical / tiered variation tower or some portion thereof. Furthermore, in one form, the extendable and retractable member 606 may include an axle, and the receiving portion 616 may include a channel in which the axle is received. An example of a mobile robot having an axle / pinion engagement assembly is further described below. A blocking position is established and defined in which the receiving portion 616 of the support member 614 has received the extendable and retractable member 606 of the mobile robot 602, thereby restricting the movement of the mobile robot 602 and preventing other mobile robots from passing along the path occupied by the mobile robot 602 in the blocking position.

[0034] Mobile robot 602 may include sensor 608 to determine proper engagement of member 606 with receiving portion 616. In one form, mobile robot 602 may have sensor 608 for detecting engagement of extendable and retractable member 606 with receiving portion 616 when mobile robot 602 is in a blocking position and when extendable and retractable member 606 has been extended from mobile robot 602. Furthermore, sensor 608 can be used to continuously / periodically monitor this engagement to ensure that member 606 and receiving portion 616 remain engaged. Sensor 608 may be located in any of a variety of locations, such as on the body of mobile robot 602 or on extendable and retractable member 606. If sensor 608 detects that member 606 and receiving portion 616 are not properly engaged and locked, certain actions may be taken, as further described below.

[0035] Mobile robot 602 may include a plurality of extendable and retractable members 606. In one embodiment, mobile robot 602 may include a second extendable and retractable member 606. System 600 may include a second support 618 having a second receiving portion 620 (such as on a portion of a tiered tower opposite a first support 614). In a blocked position, the second receiving portion 620 may receive the second extendable and retractable member 606 of mobile robot 602. A second sensor 608 may also be associated with the second extendable and retractable member 606. The use of the second support 618 may provide additional stability to mobile robot 602 in a blocked position.

[0036] Furthermore, the mobile robot 602 may include one or more motors 610. In one embodiment, it is generally envisioned that the mobile robot 602 can deactivate the motors 610 after they are in a blocking position. In the presence of at least two extendable and retractable members 606, a motor 610 may be associated with each member 606. This deactivation when the mobile robot 602 is in a blocking position may constitute an additional preventative measure to limit unintentional movement of the members 606 or the mobile robot 602.

[0037] The mobile robot 602 may also include a charging assembly 612. In one embodiment, the mobile robot 602 is configured to be electrically charged when in a blocked position via engagement of the charging assembly 612 with a charging portion 622 coupled to a support member 614. For example, in the presence of two supports 614, 618, the first support 614 may have a first charging portion 622, and the second support 618 may have a second charging portion 624. Alternatively, even with two supports 614, 618, only one charging portion may be present. For example, if the two supports 614, 618 are on opposite sides of a tiered tower, each tiered tower may have only one charging portion 622, 624, such as a charging rail, as described below. In one embodiment, it is envisioned that this charging will allow the mobile robot 602 to maintain certain operations, such as communication, in the blocked position. Furthermore, charging may allow the sensor 608 to continue confirming the proper engagement of the member 606 and the receiving portion 616.

[0038] In one embodiment, the charging assembly 612 of the mobile robot 602 may include an onboard rechargeable energy storage device, which may include a supercapacitor bank. Any of a variety of supercapacitors may be used in the charging assembly 612, including, for example, conventional double-layer capacitors, lithium supercapacitors, and ultra-low impedance capacitors. It should also be understood that the charging assembly 612 may be or include various rechargeable power sources other than supercapacitors in other embodiments, including, for example, ordinary capacitors, electrochemical batteries, and other types of rechargeable power sources. Further details regarding charging assemblies and charging systems that can be used with mobile robots are described in U.S. Patent Application Publication No. 2019 / 0245366, entitled “Opportunistic Charging System for an Automated Storage and Retrieval System,” published August 8, 2019, which is incorporated herein by reference in its entirety.

[0039] It is also envisioned that system 600 may include control circuitry 626, which is configured to perform certain operations. In one form, it is envisioned that control circuitry 626 may be a centralized control circuitry located remotely from mobile robot 602. Furthermore, it is envisioned that control circuitry 626 may communicate substantially with various types of mobile robots 602.

[0040] In this context, the term control circuit 626 broadly refers to any microcontroller, computer, or processor-based device having a processor, memory, and programmable input / output peripherals, generally designed to manage the operation of other components and devices. It should also be understood that common accompanying accessory devices are included, including memory, transceivers for communicating with other components and devices, etc. These architectural options are well known and understood in the art and need not be further described herein. Control circuit 626 can be configured (e.g., by using a corresponding program stored in memory, as will be well understood by those skilled in the art) to perform one or more of the steps, actions, and / or functions described herein.

[0041] like Figure 6As shown, control circuitry 626 can be coupled to memory 628, network interface 630, and one or more wireless networks 632. Memory 628 may, for example, store non-transitory computer instructions that, when executed, cause control circuitry 626 to operate as described herein, as is known in the art. Furthermore, network interface 630 enables control circuitry 626 to communicate with other components (both internal and external to the system). Network interface 630 is well known in the art. Network interface 630 can communicatively couple control circuitry 626 to wireless network 632 and any other network 632 that may be suitable for the environment. Control circuitry 626 may operate using databases, including cloud databases, and / or in conjunction with cloud computing platforms. While one control circuitry 626 is shown, in some forms, the functionality of control circuitry 626 may be implemented on multiple processor devices communicating over network 632.

[0042] In some forms, the control circuitry 626 or overall control system for the order fulfillment facility 100 is envisioned to include a route planning system 627 that generates destination and route information and wirelessly transmits this information to a robot controller 613 within each of the mobile robots 602. The control circuitry 626 may further include a central safety controller, such as a Master Safety Programmable Logic Controller (MSPLC) 629, which allows messages (also known as heartbeats) to be periodically transmitted to a safety controller or safety PLC 615 on each mobile robot 602. The wireless heartbeat may be an encrypted signal sent periodically (e.g., every few seconds) to each mobile robot. If a wireless heartbeat is received, it is decrypted and verified. The identifier can be checked to confirm that it is the next expected identifier in the sequence, and the wireless heartbeat can be checked for data corruption.

[0043] In some implementations, if the safety PLC 615 within the mobile robot 602 fails to receive a wireless heartbeat, the verification process fails, or the safety PLC 615 receives a "pause" message from the MSPLC 629, the safety PLC 615 automatically immobilizes the mobile robot 602. Specifically, the safety PLC 615 can be coupled to the robot motion system 604. If the safety PLC 615 receives anything other than a normal operating heartbeat, it can shut down the robot motion system 604 according to IEC 60204-1 by executing a Category O stop (safe torque shutdown) or a Category 1 stop (safety stop 1). In the execution of certain safety protocols, the pause message sent by the MSPLC 629 can be global, i.e., it is sent to all robots and has the effect of stopping the movement of all robots 602 in the order fulfillment facility 100 (emergency stop system). Furthermore, the global pause message can be transmitted, for example, in response to a notification (such as from a safety PLC 615) or to the determination that one of the mobile robots 602, which was instructed to take a blocking position (or a safe state) at a designated location, cannot do so or has moved from its blocking position. RFID tags on the mobile robot 602 can be used to confirm its location.

[0044] Furthermore, in one embodiment, control circuit 626 can be configured to: identify the location of a safe zone; instruct a mobile robot within the safe zone to leave the safe zone; instruct at least one mobile robot to block at least one approach point to the safe zone; and confirm the position of at least one robot at at least one approach point. Control circuit 626 can be used to provide instructions and commands to one or more mobile robots 602 to create a safe zone. It can also be used to confirm that one or more mobile robots are in and remain in their blocking positions. Control circuit 626 can be used to implement a blocking arrangement or plan that has been developed by one or more individuals.

[0045] The control circuit 626 can also be used to develop or create a barrier arrangement or plan. In one form, the control circuit 626 can be further configured to: determine the locations of one or more approach points to a safe zone according to the barrier plan; and instruct one or more mobile robots to move to the locations of one or more approach points to enter the barrier positions at those locations. In this form, for example, once the control circuit 626 identifies the location of a damaged / incapacitated / malfunctioning mobile robot, it can define a safe zone around that location, determine the approach points to that location, determine the barrier positions, and determine and instruct the mobile robot 602 to move to and occupy those barrier positions.

[0046] In some forms, it is envisioned that control circuitry 626 will confirm or receive confirmation of the position of mobile robot 602 at the obstruction location. When control circuitry 626 establishes a safe zone, it can instruct or drive mobile robot 602 to its corresponding obstruction location. Control circuitry 626 can then confirm or receive confirmation of mobile robot 602 being in its correct obstruction location via position data. This position confirmation can be accomplished in various ways. For example, position data can be obtained from the mobile robot's motor encoder, which can be used to confirm its position relative to an observed reference point of mobile robot 602. Additionally, mobile robot 602 can use its RFID reader(s), camera(s), and / or other devices to establish its position as an alternative or additional level of position confirmation.

[0047] An example of an extendable and retractable component for a mobile robot is now described. In one form, the component is envisioned to include a pinion gear for facilitating upward and downward movement of the mobile robot on a tiered tower. More specifically, the pinion gear engages a rack and pinion structure of the tiered tower to raise and lower the tower. It can also be used to lock the mobile robot into a blocking position.

[0048] exist Figure 7 The image shows a side view of robot 710. In one embodiment, robot 710 has a drive wheel 712, a support wheel 714, a guide roller 716, a pinion 718, and a counter-rotating wheel 719 and 720. During normal climbing operations, pinion 718 and counter-rotating wheels 719 and 720 selectively engage the rack, allowing robot 710 to climb or descend vertically. During climbing, counter-rotating wheels 719 and 720 react to the cantilever weight of robot 710, with force 724 reacting to counter-rotating wheel 720 and force 726 reacting to counter-rotating wheel 719. Pinion 718 further vertically supports the weight 728 of robot 710.

[0049] exist Figure 8 The diagram shows a view of a pinion 718. In one form, the pinion 718 (also referred to as a drive gear) has teeth 740 and keyways 742. Teeth 740 preferably have chamfered guides in portions 744, which are configured to prevent jamming or missed engagement when engaging the rack. Further details regarding the structure and operation of the robot 710 are contained in U.S. Patent Application Publication No. 2020 / 0087067, which is incorporated herein by reference in its entirety. As used herein, the pinion 718 may form part of an extendable and retractable member that engages with and is received within the rack structure (which may form a receiving portion of a support).

[0050] exist Figure 9 The image shows a partial cross-sectional view of the mobile robot 710; for clarity, only one side is shown. Figure 9 In the state shown, the lead screw 738 rotates, causing the pinion 718 to engage with the rack 782. Figure 9 In the relative positions of the spline 727 and shaft 722 shown, there is a rotational clearance between the spline 727 and shaft 722, allowing the pinion 718 to freely engage the rack 782. Figure 10 In the middle, the lead screw 738 rotates, so that the pinion 718 and the rack 782 are fully engaged.

[0051] Figure 11 A mobile robot 710 is shown on aisle 784 and at tiered tower 786. Many details have been removed so that only the mobile robot 710, the aisle 784 formed by two guide rails, and the two supports of the tiered tower 786 are shown. The mobile robot 710 can engage the tiered tower 786 to take a blocking position. A pinion 718 can extend to engage rack 782 and is received within rack 782. Although... Figure 11 Only one side is shown, but the second pinion on the other side of the mobile robot 710 extends to engage the second rack.

[0052] While the use of extendable and retractable pinions has been described above, it is also envisioned that alternative blocking devices and methods may be used in certain forms. Other types of extendable components may be used as supports at engagement points. Furthermore, in some forms, in addition to or as a supplement to the extension shaft(s), the mobile robot may be positioned at its blocking location and use one or more alternative safety-rated sensors(s) to observe the movement of its wheels. The mobile robot can confirm that its wheels remain stationary. For example, if one or more alternative safety-rated sensors(s) detect movement, this detection may trigger an emergency stop of the system.

[0053] Next, an example of the charging section of the support is shown. Figure 12 The illustration shows a perspective view of a section of the track system 816 within aisle 808. The track system 816 includes horizontal guide rails 818 and a tiered tower 820 (enclosed within dashed lines). Storage location ( Figure 12 (Not shown) The adjacent track system 816 is positioned on the opposite side of the aisle 808. The partition 812 allows the mobile robot 850 to travel between and enter the aisles 808 at different levels of the storage structure.

[0054] In one embodiment, the charging rail 830 may be incorporated into vertical rails on one or both sides of the tiered tower 820. The charging rail 830 may be electrically connected to a facility power supply 832 to receive voltage from the facility power supply 832. In some embodiments, the voltage received in each of one or more charging rails 830 may be an AC voltage, such as 120V, 220V, or 240V. It should be understood that the facility power supply may provide other AC voltages in other forms. Additionally, a voltage converter may be provided between the facility power supply 832 and the charging rail 830 to convert the voltage to a DC voltage or a voltage different from that of the facility power supply 832. Further details regarding charging rails and systems, such as charging rails and systems that can be used with mobile robots, are described in the previously mentioned U.S. Patent Application Publication No. 2019 / 0245366, which is incorporated herein by reference in its entirety.

[0055] Figure 13 A process 900 for creating a safe zone at a facility using a mobile robot is illustrated. It is generally envisioned that process 900 may involve some or all of the components of facility 100, and may involve some or all of the features of mobile robot blocking system 600. The foregoing description of facility 100, mobile robot blocking system 600, and other features and components is generally incorporated herein.

[0056] At box 902, a mobile robot is provided that moves around the facility. The mobile robot moves along a path within the facility, where a guidance system facilitates its movement along the path (such as a passageway). Each of the mobile robots may include various components such as a motion system for cooperating with the guidance system, one or more extendable and retractable members for engaging with one or more supports adjacent to the path, sensors for detecting engagement of one or more extendable and retractable members with receiving portions, one or more motors, a charging assembly for powering the mobile robot, a controller, and a safety PLC.

[0057] At frame 904, a support member with a receiving portion is provided. The receiving portion is generally envisioned to be configured to receive an extendable and retractable member of a mobile robot. In one form, these supports are envisioned to be part of a tiered tower that the mobile robot can use at a facility to ascend and descend to different levels. Furthermore, in one form, the extendable and retractable member(s) may include shafts and / or pinions received in channels (such as in a rack and pinion structure).

[0058] At box 906, one or more extendable and retractable components of the mobile robot are received in a receiving portion. It is generally envisioned that when this action occurs, the mobile robot assumes a blocking position in the path. At box 908, when in the blocking position, the mobile robot restricts its own movement and prevents other mobile robots from passing along the path occupied by the mobile robot.

[0059] When in the blocked position, the mobile robot can take additional actions. At box 910, when in the blocked position, the mobile robot can charge itself by engaging its charging components with a charging portion coupled to the support. This charging helps ensure that it can still perform certain operations while in the blocked position, such as communicating with control circuitry remote from the mobile robot, and such as using one or more sensors to confirm its continued engagement with the support. At box 912, one or more motors of the mobile robot can be deactivated in the blocked position. For example, these motors could be used for the movement of the mobile robot itself and / or motors associated with the movement of one or more extendable and retractable components.

[0060] It is also envisioned that, in some forms, mobile robots can receive instructions from control circuitry remotely to them. At block 914, one or more mobile robots can be instructed to block one or more approach points, and the position of one or more mobile robots can be confirmed. In one form, the control circuitry can: identify the location of a safe zone; instruct mobile robots within the safe zone to leave the safe zone; instruct at least one mobile robot to block at least one approach point to the safe zone; and confirm the position of at least one robot at at least one approach point. It is generally envisioned that the position of the mobile robots can be confirmed in various ways, such as, for example, through communication from the mobile robots and various types of location detection and positioning systems (such as GPS).

[0061] At box 916, the location of the approach point to the safe zone and the blocking plan can be determined. In one form, it is envisioned that one or more individuals can determine the location of the approach point based on the blocking plan determined by these individuals. The individuals can also use control circuitry to provide instructions to (one or more) mobile robots and confirm their positions. However, in another form, it is also envisioned that the control circuitry can determine the blocking plan. For example, in this form, the control circuitry itself can determine the location of the approach point to the safe zone based on the blocking plan and can instruct the mobile robot to move to the location of the approach point to enter the blocking position at those locations.

[0062] Figure 14 Another process 1000 for creating a safe zone at a facility using a mobile robot is shown. Figure 14Certain actors / entities and their actions or operations related to process 1000 are illustrated. More specifically, the actions / operations of technician 1002, external barrier 1004, robot 1006, route planning system 1008, main safety programmable logic controller (MSPLC) 1010 (part of the control circuitry), and walkway 1012 are shown. It is generally envisioned that process 1000 may involve some or all of the components of facility 100, and may involve some or all of the features of mobile robot blocking system 600. The foregoing description of facility 100, mobile robot blocking system 600, and other features and components is generally incorporated herein.

[0063] At box 1014, technician 1002 selects a safe zone. It is generally assumed that technician 1002 has been informed of the damaged or disabled robot. Furthermore, he or she has determined a blocking plan in which certain access points to the damaged or disabled robot will be blocked. As described above, in some forms, control circuitry can be used to determine the blocking plan and select the safe zone.

[0064] At box 1016, a technician 1002 can communicate the safety zone with a route planning system 1008, which plans routes for the mobile robot. In some forms, the route planning system 1008 may be part of a central control circuit. In some forms, the route planning system 1008 instructs robots 1006 to move to the outer end of the safety zone and renames them as barrier robots 1006. Some of these robots 1006 can travel from inside the safety zone, while others can travel from outside the safety zone.

[0065] At frame 1018, barrier robots 1006 extend their pinions to engage one or more supports on one or more sides of the passageway. In some forms, it is envisioned that once the barrier robots 1006 are positioned (i.e., at their designated location), they will report this status to the MSPLC 1010. In some forms, it is envisioned that each of the barrier robots 1006 has at least one safety sensor to confirm the engagement of the pinion and monitor continued engagement. In some forms, safety sensors may be coupled to each pinion to monitor its engagement, such as, for example, two safety sensors for two pinions. Furthermore, once one or more pinions are engaged, the barrier robot 1006 may report its positioning to the MSPLC 1010, i.e., that it is in a blocking position.

[0066] At box 1020, the MSPLC monitors and confirms certain operations of the barrier robot 1006. The MSPLC 1010 is generally envisioned as part of the control circuitry for managing the system's operations. In some forms, it can monitor and confirm the location of the barrier robot 1006. In some forms, it can monitor and confirm that all barrier robots 1006 are extending their pinions(s), and can monitor pinion conditions such as via the safety sensors(s) and safety PLCs of the barrier robots 1006. In other words, it confirms that they are in a blocking position (safe state). In some forms, the safety PLC of each barrier robot can place the motion system in a safe torque off (STO) setting, and each barrier robot is preferably charged while in a blocking position. If one or more safety-rated sensors in the mobile robot detect unintentional movement, the entire system can be brought to an emergency stop.

[0067] At box 1022, in some forms, MSPLC 1010 confirms that all robots 1006 are outside the safe zone. It may have confirmed the position of the barrier robots 1006, but it also confirms that the non-barrier robots 1006 are outside the safe zone. At box 1024, any non-barrier robots 1006 within the safe zone are evacuated, i.e., instructed to leave the safe zone.

[0068] At box 1026, in some configurations, MSPLC 1010 verifies the safety zone is in place. It verifies that the barrier and non-barrier robots 1006 are in the proper positions, and that the barrier robot 1006 is in the blocking position. At box 1028, it instructs the route planning system 1008 not to guide any robot into the safety zone. MSPLC 1010 also verifies the condition of the walkway 1012.

[0069] At box 1026 (or box 1022), it is envisioned that the MSPLC 1010 can confirm or receive confirmation of the position of the barrier robot 1006 at the blocking location. The MSPLC 1010 can confirm or receive confirmation of the barrier robot 1006 being in its proper blocking location via position data. This position confirmation can be accomplished in various ways. For example, position data can be obtained from the barrier robot's motor encoder, which can be used to confirm its position relative to a reference point observed by the barrier robot 1006. Additionally, the barrier robot 1006 can use its one or more RFID readers, one or more cameras, and / or other devices to establish its position as an alternative or additional level of position confirmation.

[0070] At frame 1030, in some configurations, walkways 1012 within the safe zone have been closed. These walkways 1012 are closed to prevent access to the safe zone via a mobile robot 1006, which can ascend or descend in a tiered tower. In some configurations, it is envisioned that walkways 1012 extending into the remainder of the facility will remain open, allowing for largely continued operation of the remaining portion of the facility outside the safe zone.

[0071] At box 1032, after the safe zone has been verified, one or more external barriers 1004 are opened. At this stage, MSPLC 1010 confirms the creation of the safe zone by verifying the position of robot 1006, confirming that the barrier robot 1006 is in a blocking position, and confirming that the passageway 1012 within the safe zone is closed. At this stage, technician 1002 safely enters the safe zone to inspect and handle any damaged or disabled robot 1006. At box 1034, technician 1002 enters the safe zone.

[0072] At box 1036, technician 1002 performs his or her task. In some cases, the task may involve investigating a damaged or incapacitated robot 1006, diagnosing the general nature of the problem, and determining how to resolve it. In some cases, the task may further include repairing robot 1006 within a safe area or removing robot 1006 to a safer location, such as, for example, beyond external barrier 1004 (where technician 1002 may have already entered the safe area). At box 1038, upon completing these tasks, technician 1002 leaves the safe area.

[0073] At box 1040, after technician 1002 leaves the safe area, one or more external barriers 1004 close. The system is now ready to resume normal operation. At box 1042, MSPLC 1010 can determine that external barriers 1004 are closed. It can change the indicator from a temporary internal barrier condition to a standard external barrier condition.

[0074] At box 1044, MSPLC 1010 resets the safety zone status so that it is no longer marked as a safety zone. Instead, it is an area of ​​the facility that can be approached again by robot 1006, and the area can resume normal operation. MSPLC 1010 enables barrier robots 1006, allowing them to leave their obstructing positions and resume normal operation. At box 1046, route planning system 1008 transforms barrier robots 1006 back into production robots 1006 and allows route planning throughout the system. At box 1048, barrier robots 1006 resume normal operation. At box 1050, walkway 1012 located in the former safety zone area is opened. Robot 1006 can ascend and descend the tiered tower within the former safety zone area.

[0075] Those skilled in the art will recognize that various other modifications, alterations, and combinations can be made to the above embodiments without departing from the scope of the invention, and such modifications, alterations, and combinations should be considered within the scope of the inventive concept.

Claims

1. A mobile robot blocking system for creating a safe zone at a facility, the system comprising: The facility has multiple paths and a guidance system for facilitating movement along the multiple paths; Multiple mobile robots, configured to move along multiple paths at the facility, each mobile robot comprising: A motion system configured to cooperate with the guidance system to facilitate the movement of each mobile robot along the plurality of paths; An extendable and retractable member configured to engage a support member in an adjacent path; Multiple support members having receiving portions configured to receive extendable and retractable components of the mobile robot; and The blocking position is defined, where the receiving part has received the extendable and retractable member of the mobile robot, thereby restricting the movement of the mobile robot and preventing other mobile robots from passing along the path occupied by the mobile robot at the blocking position.

2. The system according to claim 1, wherein: The facility includes an order fulfillment facility, which includes multiple storage locations configured to store containers containing goods, each storage location being path-accessible; and The plurality of mobile robots are configured to approach the plurality of storage locations to store or retrieve containers at the plurality of storage locations.

3. The system according to claim 1, wherein, Each mobile robot has a sensor configured to detect when the mobile robot is in the blocking position, and when the extendable and retractable member has extended from the mobile robot, the extendable and retractable member engages the receiving portion.

4. The system according to claim 1, wherein, The guidance system includes: The track, having at least one guide rail for engagement by the motion system of each mobile robot; and / or Guide lines are provided in the path to facilitate navigation for each mobile robot.

5. The system according to claim 1, wherein, The extendable and retractable member includes a shaft, and the receiving portion includes a channel configured to receive the shaft therein.

6. The system according to claim 1, wherein: The mobile robot includes a second extendable and retractable component; and In the blocking position, the second receiving portion has received the second extendable and retractable member of the mobile robot.

7. The system according to claim 1, wherein, The mobile robot is configured to be electrically charged when it is in the blocked position by the engagement of the mobile robot's charging assembly with the charging portion connected to the support.

8. The system according to claim 1, wherein, The mobile robot further includes a motor, and The mobile robot stops the motor after the motor is in the blocking position.

9. The system of claim 1, further comprising a control circuit configured to: Identify the location of the safe zone; Instruct the mobile robot in the safe zone to leave the safe zone; Instruct at least one mobile robot to block at least one approach point to the safe zone; and Confirm the position of the at least one robot at the at least one approach point.

10. The system of claim 9, wherein the control circuit is further configured to: The locations of multiple approach points to the security zone were determined according to the blocking plan; and Instruct multiple mobile robots to move to the locations of the multiple proximity points to enter the obstructed positions at those locations.

11. A method for creating a safe zone at a facility using a mobile robot, the method comprising: A plurality of mobile robots are provided, the plurality of mobile robots being configured to move along multiple paths at a facility, and having a guidance system for facilitating movement along the plurality of paths, each mobile robot comprising: A motion system configured to cooperate with the guidance system to facilitate the movement of each mobile robot along the plurality of paths; An extendable and retractable member configured to engage a support member in an adjacent path; Provides a plurality of support members having receiving portions configured to receive an extendable and retractable component of the mobile robot; and At the obstruction position, the extendable and retractable component of the mobile robot is received in the receiving section; and At the blocking position, the movement of the mobile robot is restricted and other mobile robots are prevented from passing along the path occupied by the mobile robot at the blocking position.

12. The method according to claim 11, wherein: The facility includes an order fulfillment facility, which includes multiple storage locations configured to store containers containing goods, each storage location being path-accessible; and The plurality of mobile robots are configured to approach the plurality of storage locations to store or retrieve containers at the plurality of storage locations.

13. The method of claim 11, further comprising: The mobile robot's sensors detect when the extendable and retractable member has extended from the mobile robot and when the mobile robot is in the blocking position, and detect when the extendable and retractable member engages with the receiving portion.

14. The method according to claim 11, wherein, The guidance system includes: The track, having at least one guide rail for engagement by the motion system of each mobile robot; and / or Guide lines are provided in the path to facilitate navigation for each mobile robot.

15. The method according to claim 11, wherein: The extendable and retractable member includes a shaft, and the receiving portion includes a channel configured to receive the shaft therein.

16. The method of claim 11, wherein: The mobile robot includes a second extendable and retractable component, and the method further includes: In the blocked position, the second extendable and retractable member of the mobile robot is received by the second receiving portion.

17. The method of claim 11, further comprising: When in the blocked position, the mobile robot is charged by engaging its charging assembly with the charging portion connected to the support.

18. The method according to claim 11, wherein: The mobile robot further includes a motor, and the method further includes: The motor is deactivated after the mobile robot reaches the blocking position.

19. The method of claim 11, further comprising, via a control circuit: Identify the location of the safe zone; Instruct the mobile robot in the safe zone to leave the safe zone; Instruct at least one mobile robot to block at least one approach point to the safe zone; and Confirm the position of the at least one robot at the at least one approach point.

20. The method of claim 19, further comprising, via the control circuit: The locations of multiple approach points to the security zone were determined according to the blocking plan; and Instruct multiple mobile robots to move to the locations of the multiple proximity points to enter the obstructed positions at those locations.

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