Automated verification system and method for robotic storage and retrieval system

Abstract

In some embodiments, provided herein are apparatuses and methods for automatically verifying robotic storage and retrieval systems. In some embodiments, the system includes a structure having sections configured to allow mobile robots to traverse the structure while carrying totes of products, the sections having a verification zone. As a mobile robot traverses the verification zone, sensors positioned in the verification zone capture data related to a current state of the mobile robot, the tote, and / or the products. Prior to the mobile robot traversing the verification zone, a verification control circuit receives, from a central control circuit, an expected state of the mobile robot, the tote, and / or the products. The verification control circuit then receives and analyzes the data from the sensor(s), compares the current state to the expected state, detects a deviation result, and transmits an indication of the deviation result to the central control circuit.

Description

[0001] Cross-references to related applications This application claims the benefit of U.S. Provisional Application No. 63 / 626,177, filed January 29, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention generally relates to robot storage and retrieval systems, and particularly to verifying the status of mobile robots, transport containers carried by mobile robots, and / or products contained in transport containers. Background Technology

[0003] Large retail entities frequently use automated storage and retrieval systems to manage inventory. In fulfillment centers, typical automated storage and retrieval systems are usually configured to store and retrieve products from storage locations within a multi-tiered storage structure. For example, products received at a fulfillment center can be transported from a decanting station to a specific location within the storage structure via mobile robots. And to fulfill orders, mobile robots can retrieve products from their specific locations within the storage structure and transport them to the fulfillment station. Carrying bins or containers can be used to store products within the storage structure. Attached Figure Description

[0004] This document discloses embodiments of systems, apparatus, and methods relating to automated verification of robotic storage and retrieval systems, according to several embodiments. This description includes accompanying drawings, in which: Figure 1A and Figure 1B This is an illustration of an order fulfillment facility having a robot storage and retrieval system, according to several embodiments.

[0005] Figure 2 This is a block diagram of an automated verification system for a robot storage and retrieval system, according to several embodiments.

[0006] Figure 3A These are illustrations of a mobile robot based on several embodiments.

[0007] Figure 3B These are illustrations of product handling boxes according to several embodiments.

[0008] Figure 4 This is a diagram of the verification area in a storage structure according to several embodiments.

[0009] Figure 5 This is a flowchart of an exemplary method for automated verification of a robot storage and retrieval system according to several embodiments.

[0010] Figure 6 This is a flowchart of an exemplary method for automated verification of a robot storage and retrieval system according to several embodiments.

[0011] Figure 7 This is a flowchart of an exemplary method for automated verification of a robot storage and retrieval system according to several embodiments.

[0012] Figure 8 Exemplary systems are shown, according to several embodiments, for implementing automated verification for robotic storage and retrieval systems, including methods, techniques, apparatuses, devices, systems, servers, and sources. Detailed Implementation

[0013] The following description should not be construed as limiting, but is merely for the purpose of describing the general principles of exemplary embodiments. Throughout this specification, references to “a form,” “an embodiment,” “an 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 this specification do not all refer to the same embodiment.

[0014] Generally, according to various embodiments, this document provides systems, apparatus, and methods for automatically verifying a mobile robot, a transport box carried by the mobile robot, and the products contained in the transport box as the mobile robot traverses the verification area of ​​a robot storage and retrieval system. In conventional robot order fulfillment systems, damaged products are often found at workstations (e.g., picking stations) when products are removed from product transport boxes and placed into order transport boxes. In such cases, intervention and / or corrective measures may be required to diagnose and remedy the problem, thereby disrupting order flow and reducing efficiency. In the embodiments, systems, apparatus, and methods provided herein, the mobile robot, the transport box carried by the mobile robot, and / or the products contained in the transport box are automatically verified as the mobile robot traverses the verification area of ​​the robot storage and retrieval system before reaching a designated station. This enables earlier detection and correction of problems in the process, allowing workstations to continue operating efficiently, thereby improving order fulfillment efficiency, increasing customer satisfaction, and reducing costs.

[0015] In some aspects, the automated verification system includes a structure with multiple sections configured to allow a mobile robot to traverse the structure. One of the sections may include a verification area. The mobile robot is generally configured to traverse the structure to transport a handling box containing a product to a designated section of the structure. In some embodiments, the designated section may be a workstation, such as, for example, a picking station, loading station, decanting station, etc. In other embodiments, the designated section may be a storage section of the structure. One or more sensors are located in the verification area of ​​the structure and configured to capture data related to the current state of at least one of the mobile robot, the handling box, and the product as the mobile robot traverses the verification area.

[0016] In some embodiments, the sensors(s) may include optical sensors, imaging sensors, radio frequency identification (RFID) sensors, temperature sensors, infrared sensors, humidity sensors, sound sensors, weight sensors, and / or proximity sensors. In some embodiments, the current state of the mobile robot may be its operational state. For example, the sensors(s) may detect indicators of a malfunction or impending malfunction of the mobile robot or a portion thereof. In some embodiments, the sensors(s) may detect indicators of liquid or foreign debris at the bottom of the transport container, which could contaminate the products(s) in the transport container. In some embodiments, the sensors(s) may detect indicators associated with the products in the transport container, such as, for example, quantity, quality, temperature, color, ripeness, spillage, and / or damage.

[0017] The system also includes a central control circuit communicatively coupled to the mobile robot, one or more sensors, and a verification control circuit. The central control circuit can be configured to transmit the expected state of at least one of the mobile robot, the transport box, and the product to the verification control circuit before the mobile robot traverses the verification area. The verification control circuit can be configured to receive the expected state of at least one of the mobile robot, the transport box, and the product before the mobile robot traverses the verification area, and also receive data from one or more sensors relating to the current state of at least one of the mobile robot, the transport box, and the product. The verification control circuit analyzes the data received from the one or more sensors to determine the current state of the mobile robot, the transport box, and / or the product, and compares the current state with the expected state. The verification control circuit can detect deviations and can transmit an indication of the deviation to the central control circuit.

[0018] Based on the deviation result, the central control circuit can then send instructions to the mobile robot, another robot, and / or to workstations (e.g., picking, loading, dumping stations, etc.). For example, if no deviation is detected (or if the deviation result is below a certain threshold), the central control circuit can instruct the mobile robot to proceed to a designated section of the structure. If a deviation is detected (or if the deviation result is above a certain threshold), the central control circuit can instruct the mobile robot to proceed to a location other than the designated section of the structure (e.g., a checkpoint), or otherwise abort. In some implementations, for example, when the designated section is a workstation associated with a specific order to be prepared, and a deviation is detected (or the deviation result is above a certain threshold), the central control circuit can electronically replace or reallocate the specific order to be prepared with another order to be prepared at the designated workstation, and dispatch another mobile robot to obtain a second transport box containing the same or different products and proceed to the designated workstation.

[0019] It should be understood that this embodiment can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the invention to those skilled in the art. In fact, the embodiments are intended to cover alternatives, modifications, and equivalents to these embodiments, which are included within the scope and spirit of the invention as defined by the appended claims. Furthermore, specific details are set forth in the following detailed description in order to provide an understanding of this embodiment.

[0020] Figure 1A and 1B A partial view of an embodiment of an order fulfillment facility 100 showing storage structure 102 is shown, including a plurality of compartments 104 of storage locations 106. Specifically, each compartment 104 includes a yz array of storage locations 106 arranged in horizontal rows and a platform conversion tower or vertical tower along the rows. A mobile robot 150 can travel between storage platforms in the z-direction within the platform conversion tower. Pairs of compartments 104 can be arranged facing each other and separated by aisles 108. In one form, the aisle is envisioned as a passageway 108. The passageway 108 can have a width such that the mobile robot 150 traveling within the passageway 108 can transfer transport boxes to compartments 104 on either side of the passageway 108.

[0021] The order fulfillment facility 100 may also include platforms 112 (or transport planes or areas) spaced apart at different horizontal levels of the storage structure 102. Platforms 112 may extend between aisles 108, allowing a robot 150 to maneuver in the xy-plane of each platform 112 to travel between different aisles 108. In various embodiments, the spacing between platforms 112 may vary. Each pair of platforms 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 platform 112-1 and leave workstation 110 from a second platform 112-2. Alternatively, in some forms, the mobile robot 150 may come to workstation 110 from platform 112-2 and leave from the first platform 112-1.

[0022] 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 can carry a product container (or transport box) containing items for fulfilling a product request or order. A second mobile robot 150 at workstation 110 can carry an order container (or transport box) in which items from the product transport box are placed to fulfill a product request or order. Workers at workstation 110 can transfer items from the product transport box to the order transport box under the guidance of the workstation 110's inventory control system.

[0023] Mobile robots 150, used for both product and order handling containers, arrive from one of the platforms (e.g., platform 112-1). Once items are transferred from the product handling container to the order handling container, mobile robot 150 can leave workstation 110 (e.g., via platform 112-2). Mobile robots 150 carrying both product and order handling containers continuously cycle within workstation 110. Figure 1A In this configuration, each workstation 110 is served by a single platform 112, which serves as both the entry and exit point for the workstation 110, although other configurations are also considered.

[0024] In other embodiments, workers at workstation 110 may transfer (or dump) items from product bins to product transport bins under the guidance of the workstation 110's inventory control system. A mobile robot 150 arrives from one of the platforms, and products are transferred from product bins to the product transport bins. The mobile robot 150 then leaves workstation 110 and transports the product transport bins to storage location 106 in compartment 104.

[0025] Further details relating to the structure and operation of embodiments of the workstation are disclosed in U.S. Patent Nos. 10,040,632 and 11,142,398, the entire contents of which are incorporated herein by reference. In some forms, as further described below, it may be desirable to mount or position the mobile robot station on or near aisle 108 or platform 112 capable of receiving mobile robots 150 requiring service.

[0026] As described above, the order fulfillment facility 100 may further include multiple mobile robots 150 for transferring and moving boxes or other product containers to storage locations 106 in workstations 110 and compartments 104, and for transferring boxes or other product containers from said workstations 110 and said storage locations 106. In some embodiments, the mobile robots 150 may be self-guided for horizontal movement within aisles 108, thereby transferring 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 aisles 108 at different vertical tiers. The horizontal guides provide access to storage racks on either side of aisle 108 in the x-direction at a given tier. As described above, compartments 104 may include tier change towers within which the mobile robots 150 may travel vertically in the z-direction between tiers of storage locations 106.

[0027] 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 panels forming at least some platforms 112. Platforms 112 allow the mobile robot 150 to travel between aisles on different levels of the storage structure 102. Further details of the storage structure, track system, and mobile robot 150 that may be used in conjunction with this technology are described, for example, in the following U.S. patents: U.S. Patent No. 9,139,363; U.S. Patent No. 10,435,241; and the aforementioned U.S. Patent No. 11,142,398, the entire contents of which are incorporated herein by reference.

[0028] Therefore, in some forms, a facility 100 is disclosed having a passageway / aisle 108 and a platform 112, and a mobile robot 150 configured to move along the passageway / aisle 108 and platform 112 at the facility 100. The facility 100 may be in the form of an order fulfillment facility, comprising storage locations 106 for storing containers containing goods / items, each storage location 106 being accessible via the passageway 108. Furthermore, the mobile robot 150 is configured to access the storage locations 106 to store or retrieve containers (i.e., transport boxes) at the storage locations 106, and to transport containers between the storage locations 106 and workstation 110 or other designated stations.

[0029] As described above, the order fulfillment facility 100 includes a verification area. The verification area includes sensors configured to capture data about a mobile robot 150, product handling boxes carried by the mobile robot 150, and / or products contained within the mobile robot 150 as the mobile robot 150 traverses the verification area. The verification area may be located within the order fulfillment facility 100 / storage structure 102, in a manner that allows the mobile robot 150 to traverse the verification area as it travels between storage location 106 and workstation 110 (or other designated station). For example, the verification area may be located in storage structure 102, compartment 104 (including a platform transfer tower), storage location 106, aisle 108, platform 112, workstation 110, loading station, etc. The sensors in the verification area may be attached to structure 102 in any suitable manner, allowing the sensors to capture data about the mobile robot 150, product handling boxes carried by the mobile robot 150, and products contained within the mobile robot 150 as the mobile robot traverses the verification area. For example, one or more sensors may be attached to, above, or below a horizontal guide rail, guide line, or associated support and / or track system of structure 102. In some embodiments, one or more sensors may be located in, or adjacent to, workstation 110, loading / decanting station, or any other designated station. More detailed description follows. Figure 4 An example of the location of a verification area and associated sensors in the storage structure of an order fulfillment facility is shown. In some embodiments, the verification area may include one or more sensors positioned to capture data associated with identifying the mobile robot 150 and / or the transport container carried by the mobile robot 150. In some embodiments, one or more sensors identifying the mobile robot may be positioned prior to other sensors in the verification area.

[0030] Now for reference Figure 2A block diagram of system 200 is shown, which is used to automatically verify a mobile robot, a transport box carried by the mobile robot, and / or products contained in the transport box as the mobile robot traverses the verification area of ​​a robot storage and retrieval system. System 200 includes one or more mobile robots 210. Mobile robot 210 is a motorized unit configured to travel on a structure. In some embodiments, mobile robot 210 may be configured to travel on a storage structure to retrieve and / or store items and / or transport boxes. In some embodiments, mobile robot 210 may be mobile robot 150, and the structure may be storage structure 102, see reference 102. Figure 1A and 1B Describe it. Figure 3A An exemplary mobile robot is shown. An exemplary product handling box is shown. Figure 3B As shown in the image.

[0031] like Figure 3A As shown, the mobile robot 310 includes an item / carrying container carrying section 315, a front drive wheel 330, a vertical climbing gear 335, a power storage device 320, a rear trailer wheel 348, and charging contacts 340. In some embodiments, one or more sensors may be coupled to any part of the mobile robot 310. For example, optical sensors may be coupled to the front, sides, and / or rear of the mobile robot 310. In some embodiments, the sensors may be configured to sense features via one or more of the drive wheel 330, trailer wheel 348, and vertical climbing gear 335 by measuring vibrations, accelerations, velocities, etc. In some embodiments, the sensors may be configured to detect the presence of a charging rail or charging pad via the contacts 340.

[0032] In some implementations, the mobile robot 310 may have a machine-readable code attached thereto, which encodes information about the mobile robot 310, such as its identification. The machine-readable code can be any code capable of being read by one of the sensors described herein. For example, the machine-readable code can be a barcode, QR code, symbol, etc. In another example, the machine-readable code may be associated with an RFID tag. The machine-readable code can be attached to any suitable location on the mobile robot 310 where it can be read by one or more sensors as the mobile robot 310 moves through an authentication area.

[0033] Mobile robot 310 is configured to carry and transport product handling boxes 350 containing individual products and / or order handling boxes containing products picked to fulfill purchase orders. Figure 3BA top perspective view of an exemplary transport container 350 according to some embodiments is shown. In some embodiments, the transport container 350 may be a generally rectangular container having a generally rectangular compartment 356 or interior and an open top for access to the compartment 356. For example, the transport container 350 may have a rectangular base or bottom 355 and four side walls 351, 352, 353, 354 extending upward therefrom. The side walls may include a first end side 353, a second end side 354, a first transverse side 351, and a second transverse side 352, and together with the bottom 355 define the rectangular compartment 356. The sides 351, 352, 353, and 354 may be generally perpendicular to the bottom 355, or in some embodiments, may be slightly angled or radially tapered from bottom to top, such that the compartment 356 has a gradually increasing cross-sectional area from bottom to top. In some embodiments, the latter configuration allows the transport container 350 to be nestable or nested with other identical transport containers 350 (e.g., in a storage device). However, the transport box 350 can be implemented in other related shapes, such as, but not limited to, cubes, octagons, and / or other such shapes. In some embodiments, the internal compartment 356 of the transport box 350 can be divided into multiple compartments or sections for receiving and positioning sub-transport boxes.

[0034] In some implementations, the product handling box 350 may have a machine-readable code attached thereto, which encodes information about the product handling box 350, such as its identification. The machine-readable code can be any code capable of being read by one of the sensors described herein. For example, the machine-readable code can be a barcode, QR code, symbol, etc. In another example, the machine-readable code may be associated with an RFID tag. The machine-readable code can be attached to any suitable location on the product handling box 350 where it can be read by one or more sensors when the mobile robot 310 traverses the verification area.

[0035] System 200 also includes a central computer system 220. The central computer system 220 may include control circuitry 221, memory 223, and network interface device 227. The central computer system 220 may include one or more of a server, computing system, cloud-based computing engine, desktop computer system, personal computer, portable device, etc. The control circuitry 221 may include a processor, microprocessor, central processing unit (CPU), graphics processing unit (GPU), application-specific integrated circuit (ASIC), etc., and may be configured to execute computer-readable instructions stored on computer-readable storage memory 223. The computer-readable storage memory 223 may include volatile and / or non-volatile memory and stores a set of computer-readable instructions thereon that, when executed by the control circuitry 221, cause the central computer system 220 to perform one or more functions described herein, such as references to... Figures 5 to 7 The steps described.

[0036] Network interface device 227 may include a data port, wired or wireless network adapter, etc. In some embodiments, central computer system 220 may communicate with mobile robot 210 and authentication computer system 230 through one or more networks 204, such as a local network, private network, cloud computing network, or the Internet. Network 204 may include wired and / or wireless links and all other repeaters, switches, transceivers, and / or networking components. In some embodiments, central computer system 220 may further communicate with other systems and devices, such as order databases, order management systems, inventory databases, user interface devices associated with workstations (e.g., picking stations, loading stations, dumping stations, etc.).

[0037] In some embodiments, computer-executable instructions may cause control circuitry 221 of a central computer system 220 to schedule one or more mobile robots 210 to retrieve product transport boxes from target compartments of a storage structure and transport the transport boxes to workstations by traversing one or more verification areas. The central computer system 220 may schedule the mobile robots 210 in response to receiving a purchase order containing a list of products (e.g., from an order management system). In another example, the central computer system 220 may schedule the mobile robots 210 to a loading station (e.g., a decanting station) in response to receiving an indication that products are ready to be decanted at a loading station. The central computer system 220 may be configured to track the location of the mobile robots 210 and the status of the purchase order when the order is being prepared at the workstation. In some implementations, the location of the mobile robots 210, the purchase order, the design drawings of the storage structure, and other relevant information may be stored in memory 223 and / or one or more databases 228 of the central computer system 220.

[0038] In some implementations, the central computer system 220 is configured to transmit a message to the verification computer system 230 identifying a specific mobile robot 210 that will traverse the verification area, thereby providing the verification computer system 230 with advance notification of the arrival of the specific mobile robot. The central computer system 220 is also configured to transmit to the verification computer system 230 the expected state of the specific mobile robot, the transport box, and / or the product before the mobile robot traverses the verification area. For example, the expected state of the product may include the quantity of product in the transport box, the quality of the product, the temperature of the product, the color of the product, its ripeness, spillage, and / or that the product is not damaged. In a non-limiting example, the central computer system 220 may send a message to the verification computer system 230 that the transport box carried by the specific mobile robot 210 contains three individual items of the product. For example, the message may also include other information, such as the brand and size of the product. In another example, the central computer system 220 may send a message to the verification computer system 230 regarding the expected operational state and / or functionality (e.g., good working condition) of the mobile robot. In another example, the central computer system 220 may send a message to the verification computer system 230 regarding the expected condition of the transport box (e.g., clean inner surface).

[0039] As explained in more detail below, the verification computer system 230 receives data captured by sensors 240 as a specific mobile robot 210 traverses the verification area, analyzes the sensor data to determine the current state of the mobile robot, transport bins, and / or products, compares the current state with the expected state, detects deviations, and transmits an indication of the deviation to the central computer system 220. The central computer system 220 is configured to receive the indication of the deviation and make a decision on how to proceed. For example, if no deviation is detected, the central computer system 220 may send an instruction to the specific mobile robot 210 to proceed to a designated workstation. The central computer system 220 may also send instructions or directives to a designated workstation that is the destination of the mobile robot. For example, the central computer system 220 may send an instruction to a designated workstation to remove a specific quantity of products (i.e., individual items) from a transport bin carried by the mobile robot 210 for placement in a specific order transport bin, thereby preparing inventory for a specific purchase order. In another example, if a deviation is detected, the central computer system 220 may send an instruction to the mobile robot 210 to proceed to a location other than a designated section of the structure, or otherwise abort.

[0040] In some implementations, when a deviation is detected, the central computer system 220 can determine whether the deviation exceeds or does not exceed a deviation threshold. Acceptable deviations and / or deviation thresholds can be predefined and considered by the central computer system 220. If the deviation does not exceed the deviation threshold, the central computer system 220 can transmit instructions to a specific mobile robot 210 to proceed to a designated workstation. If the deviation does exceed the deviation threshold, the central computer system can transmit instructions to the mobile robot 210 to proceed to a location other than a designated section of the structure, or otherwise abort the operation.

[0041] For example, in some implementations, when the designated segment is a workstation associated with a specific order to be prepared, and a deviation is detected (or the deviation exceeds a deviation threshold), the central computer system 220 can electronically replace or reallocate the specific order to be prepared with another order to be prepared at the designated workstation (or the central computer system 220 can send instructions to the workstation and / or order management system to perform this function), and the central computer system 220 can dispatch another mobile robot to obtain a second handling box containing the same or different products and proceed to the designated workstation. In this way, the process flow is minimally interrupted, if any, because the system can continue to prepare the order while investigating and / or correcting the cause of the deviation.

[0042] The verification computer system 230 may include control circuitry 231, memory 233, and network interface device 237. The verification computer system 230 may include one or more of a server, computing system, cloud-based computing engine, desktop computer system, personal computer, portable device, etc. The control circuitry 231 may include a processor, microprocessor, central processing unit (CPU), graphics processing unit (GPU), application-specific integrated circuit (ASIC), etc., and may be configured to execute computer-readable instructions stored on computer-readable storage memory 233. The computer-readable storage memory 233 may include volatile and / or non-volatile memory and stores a set of computer-readable instructions thereon that, when executed by the control circuitry 231, cause the verification computer system 230 to perform one or more functions described herein, such as those described in reference to [reference needed]. Figures 5 to 7 The steps described.

[0043] Network interface device 237 may include a data port, a wired or wireless network adapter, etc. In some embodiments, the verification computer system 230 may communicate with the central computer system 220 and the sensor 240 through one or more networks 204, such as a local network, a private network, a cloud computing network, or the Internet. Network 204 may include wired and / or wireless links and all other repeaters, switches, transceivers, and / or network components. In some embodiments, the verification computer system 230 may further communicate with other systems and devices, such as one or more databases, associated user interface devices, etc.

[0044] In some embodiments, computer-executable instructions may cause control circuitry 231 of the verification computer system 230 to receive from the central computer system 220 the identity of a specific mobile robot 210 approaching a relevant verification area, and also receive the expected state of the mobile robot, the transport container, and / or the products within the transport container. This allows the verification computer system 230 to prepare for the arrival of the mobile robot through the verification area. In a non-limiting example, the verification computer system may prepare for the arrival of the mobile robot 210 by activating one or more sensors 240 in the verification area. Then, as the mobile robot 210 traverses the verification area, the verification computer system 230 receives data captured by the sensors 240. In some implementations, the captured data may include signals or codes that can identify the mobile robot 210. The verification computer system 230 may be configured to compare the received identifier of the mobile robot with the captured coded identity of the mobile robot to ensure that the correct mobile robot is approaching and / or has traversed the verification area. As described above, the verification area may include one or more sensors positioned to capture data associated with the identifier of the mobile robot 210 and / or the transport container carried by the mobile robot 210. In some implementations, one or more sensors identifying the mobile robot 210 may be positioned prior to other sensors in the verification area. This allows the verification computer system 230 to confirm the identity of the mobile robot 210 (e.g., by comparing the captured mobile robot identifier with the mobile robot identifier received from the central computer system) before the remaining sensors 240 capture data associated with the current state of the mobile robot 210, the transport box, and / or the products contained in the transport box.

[0045] As described herein, sensor 240 captures data relating to indicators of the current state of the mobile robot, transport container, and / or products. In some embodiments, the current state of the mobile robot may be its operational state. For example, sensor 240 may detect indicators of a malfunction or impending malfunction of the mobile robot or a portion thereof. In some embodiments, the sensor may detect indicators of the presence of liquid or foreign debris at the bottom of the transport container, which could contaminate one or more products in the transport container. In some embodiments, the sensor may detect indicators associated with the products in the transport container, such as, for example, quantity, quality, temperature, color, ripeness, spillage, and / or whether the product is damaged.

[0046] Verification computer system 230 is configured to analyze sensor data to determine the current state of the mobile robot, transport box, and / or product. In some embodiments, verification computer system 230 may correlate data captured by sensors with known current states, and this data may be stored in memory 233 of verification computer system 230. For example, a transport box carried by a mobile robot may contain three individual items of the product. One of the sensors 240 in the verification area may be an optical sensor (e.g., a camera) that captures top-down images of the individual items in the transport box as the mobile robot 210 moves through the verification area. Verification computer system 230 may be configured to count the number of individual items in the images to determine the current state of the product. In some embodiments, the number of individual items in the product transport box may be determined by performing volumetric calculations by verification computer system 230. In another example, one of the sensors 240 in the verification area may be a thermal sensor that scans the temperature of the individual items in the transport box as the mobile robot 210 moves through the verification area. Verification computer system 230 may be configured to correlate the temperature with the individual items in the transport box to determine the current state of the product.

[0047] In some embodiments, the verification computer system 230 may query one or more databases 238 to associate captured sensor data with the known current state of the mobile robot 210, the transport container, and / or the products contained in the transport container. In some embodiments, the verification computer system 230 may execute a trained machine learning model to associate the captured sensor data with the known current state of the mobile robot 210, the transport container, and / or the products contained in the transport container.

[0048] The verification computer system 230 is also configured to compare the current state with the expected state to detect or otherwise determine whether there is a deviation between the current state and the expected state. Deviations from the expected state of the product may include, but are not limited to: insufficient product quantity in the transport box, a different product quantity than expected in the transport box, product temperature exceeding the target range, product color exceeding the target range, and unacceptable product appearance (overcooked, undercooked, visual irregularities indicating product damage, spillage, etc.). Deviations from the expected state of the transport box may include, but are not limited to: visual irregularities indicating damage inside or outside the transport box, and spillage within the transport box. Deviations from the expected state of the mobile robot may include, but are not limited to: temperature exceeding the thermal range, which may indicate overheating of the mobile robot, and visual irregularities, which may indicate damage (or reduced functionality) to one or more components of the mobile robot.

[0049] In some implementations, the verification computer system 230 may execute a trained machine learning model to determine whether there is a deviation between the current state and the expected state of the mobile robot 210, the transport box, and / or the product. In some implementations, the verification computer system 230 may query one or more databases 238 and / or run one or more rule-based algorithms to determine whether there is a deviation between the current state and the expected state of the mobile robot 210, the transport box, and / or the product. In some implementations, acceptable current state, acceptable sensor data range, acceptable deviation, and / or deviation threshold may be predefined and considered by the verification computer system 230 to determine the deviation outcome.

[0050] Once the verification computer system 230 has determined whether a deviation exists, the verification computer system 230 can transmit an indication of the deviation result to the central computer system 220.

[0051] As described above, system 200 includes one or more sensors positioned within a verification area. The sensors can be any sensors configured or otherwise capable of capturing data associated with the mobile robot 210, the transport container, and / or the products within it as the mobile robot 210 traverses the verification area. Non-limiting examples of suitable sensors may include, but are not limited to: optical sensors, imaging sensors, radio frequency identification (RFID) sensors / readers, temperature sensors, infrared sensors, humidity sensors, sound sensors, weight sensors, and / or proximity sensors. In some implementations, one or more sensors may be in the form of optical sensors (e.g., cameras) configured to capture one or more images of the mobile robot 210, the transport container, and / or the products. The sensors may be communicatively coupled to verification computer system 230 via one or more networks 204, such as a local network, a private network, a cloud computing network, or the Internet. The sensors are configured to capture data associated with the mobile robot 210, the transport container, and / or the products as the mobile robot 210 traverses the verification area, to transmit the captured data to the verification computer system via network 204.

[0052] Figure 4 An example of a verification area 400 in a storage structure 402 according to some embodiments is shown. Storage structure 402 may form part of an order fulfillment facility, such as those referenced herein. Figure 1A and 1B The order fulfillment facility 100 is described. In some implementations, storage structure 402 is referenced herein. Figure 1A and 1B The described structure 102. Storage structure 402 includes a horizontal guide rail 405 associated with a track system configured to allow a mobile robot 410 to traverse the structure. Verification area 400 includes sensors 443, 444, and 445, which are attached above and below the horizontal guide rail 405.

[0053] exist Figure 4In the non-limiting example shown, sensor 443 may be an optical sensor configured to read an identification machine-readable code attached to the front of mobile robot 410. Sensor 444 may be a combination of various sensors, including optical sensors, imaging sensors, radio frequency identification (RFID) sensors, temperature sensors, infrared sensors, humidity sensors, sound sensors, weight sensors, and / or proximity sensors, configured to capture data about the current state of mobile robot 410, the transport container 406 carried by the mobile robot, and / or the product 407 in the transport container as the mobile robot passes through the verification area. Sensor 445 may be an RFID reader configured to read an identification RFID tag attached to transport container 406 and / or the mobile robot. In some embodiments, one or more sensors 443 identifying the mobile robot may be positioned in front of other sensors 444 and 445 in the verification area 400. As the mobile robot moves through the verification area 400, sensors 443, 444, and 445 capture data and transmit the data to a verification computer system, which may be as described herein. Figure 2 The described verification computer system.

[0054] although Figure 4 The verification area 400 is shown in the storage structure 402, but one or more verification areas 400 can be located at any suitable location in the order fulfillment facility, such as those referenced herein. Figure 1A and 1B The order fulfillment facility 100 is described. For example, verification areas may be located in storage structures 102, compartments 104 (including platform conversion towers), storage locations 106, aisles 108, platforms 112, workstations 110, loading stations, etc. of the order fulfillment facility 100. Furthermore, multiple mobile robots 410 can traverse multiple verification areas on their way to one or more of their designated workstations.

[0055] Now for reference Figure 5 An automated verification method 500 for a robot storage and retrieval system is illustrated according to some embodiments. In some embodiments, Figure 5 One or more steps can be performed by a processor-based device that executes computer-readable instructions stored on a memory device. In some embodiments, Figure 5 One or more steps can be referenced in this article. Figure 2 The central computer system 220 and / or verification computer system 230 (and / or components thereof) or other similar devices described herein are used to perform this action.

[0056] The method begins with step 501. In step 502, the central computer system schedules a mobile robot to retrieve a transport box from the target area of ​​the storage structure and deliver the transport box to the designated workstation by traversing the verification area of ​​the storage structure located between the target area and the designated workstation. The mobile robot can be the one described herein. Figure 2 and 3A The mobile robots 210 and / or 310 are described. The storage structure may be as described herein. Figure 1A and 1B The storage structure described is 102.

[0057] In step 503, the mobile robot travels to the target area and retrieves the target transport box from its location in the storage structure.

[0058] In step 504, the central computer system transmits to the verification computer system the identifier of the mobile robot that will traverse the verification area, as well as the expected state of the mobile robot, the transport container, and / or the products within the transport container. In some embodiments, the expected state of the products may include, but is not limited to: the quantity of products in the transport container, the quality of the products, the temperature of the products, the color of the products, their ripeness, spillage, and / or that the products are not damaged. In some embodiments, the expected state of the mobile robot may include, but is not limited to, the expected operational state and / or functionality of the mobile robot (e.g., good working condition). In some embodiments, the expected state of the transport container may include, but is not limited to, an intact transport container with a clean inner surface.

[0059] In step 505, the verification computer system receives the identification of the mobile robot and the expected state of the mobile robot, the transport container, and / or the products in the transport container, and prepares the verification computer system for the arrival of the mobile robot in the verification area. In some embodiments, the verification computer system may prepare the mobile robot for arrival in the verification area by activating one or more sensors in the verification area. The sensors may be those referenced herein. Figure 2 The sensor 240 is described.

[0060] In step 506, the mobile robot arrives at and traverses the verification area. The verification area may be located in storage structures, storage compartments, cubicles, layer-change towers, storage locations, storage aisles, platforms, workstations, loading stations, etc.

[0061] In step 507, one or more sensors located in the verification area capture data relating to the current state of the mobile robot, transport box, and / or product. The sensors in the verification area may be attached to a storage structure in any suitable manner to allow them to capture data about the mobile robot, transport box, and product as the mobile robot traverses the verification area. The sensors transmit the captured data to a verification computer system, and the verification computer system analyzes the data to determine the current state of the mobile robot, transport box, and / or product. In some embodiments, the verification computer system may query one or more databases to correlate the captured sensor data with the known current state of one or more of the mobile robot, transport box, and / or product contained within the transport box. In some embodiments, the verification computer system may execute a trained machine learning model to correlate the captured sensor data with the known current state of one or more of the mobile robot, transport box, and / or product contained within the transport box.

[0062] Then, the verification computer system compares the current state with the expected state to detect or otherwise determine whether there is a deviation between the current state and the expected state. Deviations from the expected product state may include, but are not limited to: insufficient product quantity in the transport container, product quantity in the transport container differing from the expected quantity, product temperature exceeding the target range, product color exceeding the target range, unacceptable product appearance (overcooked, undercooked, visual irregularities indicating product damage, spillage, etc.). Deviations from the expected state of the transport container may include, but are not limited to, visual irregularities indicating damage inside or outside the transport container, spillage within the transport container, etc. Deviations from the expected state of the mobile robot may include, but are not limited to: temperature exceeding the thermal range, which may indicate overheating of the mobile robot, visual irregularities, which may indicate damage (or reduced functionality) to one or more components of the mobile robot, etc.

[0063] In some implementations, the verification computer system may execute a trained machine learning model to determine whether there is a discrepancy between the current state and the expected state of the mobile robot, transport container, and / or product. In some implementations, the verification computer system may query one or more databases and / or run one or more rule-based algorithms to determine whether there is a discrepancy between the current state and the expected state of the mobile robot, transport container, and / or product. In some implementations, acceptable current state, acceptable sensor data range, acceptable discrepancy, and / or discrepancy thresholds may be predefined and considered by the verification computer system to determine the discrepancy outcome.

[0064] In step 508, the computer system verifies the indication that it is transmitting the deviation results to the central computer system.

[0065] In step 509, the central computer system makes a decision on how to proceed based on the deviation results. Acceptable deviations and / or deviation thresholds can be predefined and considered by the central computer system. If a deviation exists but does not exceed the deviation threshold, or if there is no deviation, the central computer system can determine in step 509 that the mobile robot should proceed to the designated workstation.

[0066] In step 510, the central computer system transmits instructions to the mobile robot to go to the designated workstation, and in step 511, the mobile robot goes to the designated workstation.

[0067] In step 512, the central computer system transmits a message to the designated workstation indicating that the mobile robot is en route to the designated workstation.

[0068] In step 513, the workstation is designated to handle tasks related to fulfilling the purchase order. For example, when the mobile robot arrives at the workstation, the workstation can display instructions on the user interface to retrieve (i.e., pick) a certain number of products from the transport bin carried by the mobile robot and place the products into the order transport bin.

[0069] In step 514, the task is completed on the workstation, and in step 515, the workstation transmits the completion of the task to the central computer system.

[0070] In step 516, the mobile robot withdraws or otherwise leaves the workstation.

[0071] The method is completed in step 517.

[0072] Now for reference Figure 6 An automated verification method 600 for a robot storage and retrieval system is illustrated according to some embodiments. In some embodiments, Figure 6 One or more steps can be performed by a processor-based device that executes computer-readable instructions stored on a memory device. In some embodiments, Figure 6 One or more steps can be referenced in this article. Figure 2 The central computer system 220 and / or verification computer system 230 (and / or components thereof) or other similar devices described herein are used to perform this action.

[0073] The method begins with step 601. In step 602, the central computer system schedules a mobile robot to retrieve a transport box from the target area of ​​the storage structure and deliver the transport box to the designated workstation by traversing the verification area of ​​the storage structure located between the target area and the designated workstation. The mobile robot can be the one described herein. Figure 2 and 3A The mobile robots 210 and / or 310 are described. The storage structure may be as described herein. Figure 1A and1B The storage structure described is 102.

[0074] In step 603, the mobile robot travels to the target area and retrieves the target transport box from its location in the storage structure.

[0075] In step 604, the central computer system transmits to the verification computer system the identifier of the mobile robot that will traverse the verification area, as well as the expected state of the mobile robot, the transport container, and / or the products within the transport container. In some embodiments, the expected state of the products may include, but is not limited to: the quantity of products in the transport container, the quality of the products, the temperature of the products, the color of the products, their ripeness, spillage, and / or that the products are not damaged. In some embodiments, the expected state of the mobile robot may include, but is not limited to, the expected operational state and / or functionality of the mobile robot (e.g., good working condition). In some embodiments, the expected state of the transport container may include, but is not limited to, an intact transport container with a clean inner surface.

[0076] In step 605, the verification computer system receives the identification of the mobile robot and the expected state of the mobile robot, the transport container, and / or the products in the transport container, and prepares the verification computer system for the arrival of the mobile robot in the verification area. In some embodiments, the verification computer system may prepare the mobile robot for arrival in the verification area by activating one or more sensors in the verification area. The sensors may be those referenced herein. Figure 2 The sensor 240 is described.

[0077] In step 606, the mobile robot arrives at and traverses the verification area. The verification area may be located in a storage structure, storage compartment, partition, layer-change tower, storage location, storage aisle, platform, workstation, loading station, etc.

[0078] In step 607, one or more sensors located in the verification area capture data relating to the current state of the mobile robot, transport box, and / or product. The sensors in the verification area may be attached to a storage structure in any suitable manner to allow them to capture data about the mobile robot, transport box, and product as the mobile robot traverses the verification area. The sensors transmit the captured data to a verification computer system, and the verification computer system analyzes the data to determine the current state of the mobile robot, transport box, and / or product. In some embodiments, the verification computer system may query one or more databases to correlate the captured sensor data with the known current state of one or more of the mobile robot, transport box, and / or product contained within the transport box. In some embodiments, the verification computer system may execute a trained machine learning model to correlate the captured sensor data with the known current state of one or more of the mobile robot, transport box, and / or product contained within the transport box.

[0079] Then, the verification computer system compares the current state with the expected state to detect or otherwise determine whether there is a deviation between the current state and the expected state. Deviations from the expected product state may include, but are not limited to: insufficient product quantity in the transport container, product quantity in the transport container differing from the expected quantity, product temperature exceeding the target range, product color exceeding the target range, unacceptable product appearance (overcooked, undercooked, visual irregularities indicating product damage, spillage, etc.). Deviations from the expected state of the transport container may include, but are not limited to, visual irregularities indicating damage inside or outside the transport container, spillage within the transport container, etc. Deviations from the expected state of the mobile robot may include, but are not limited to: temperature exceeding the thermal range, which may indicate overheating of the mobile robot, visual irregularities, which may indicate damage (or reduced functionality) to one or more components of the mobile robot, etc.

[0080] In some implementations, the verification computer system may execute a trained machine learning model to determine whether there is a discrepancy between the current state and the expected state of the mobile robot, transport container, and / or product. In some implementations, the verification computer system may query one or more databases and / or run one or more rule-based algorithms to determine whether there is a discrepancy between the current state and the expected state of the mobile robot, transport container, and / or product. In some implementations, acceptable current state, acceptable sensor data range, acceptable discrepancy, and / or discrepancy thresholds may be predefined and considered by the verification computer system to determine the discrepancy outcome.

[0081] In step 608, the computer system verifies the indication that it is transmitting the deviation results to the central computer system.

[0082] In step 609, the central computer system makes a decision on how to proceed based on the deviation results. Acceptable deviations and / or deviation thresholds can be predefined and considered by the central computer system. If a deviation exists, or if the deviation exceeds the deviation threshold, the central computer system can decide in step 609 that the mobile robot should not proceed to the designated workstation.

[0083] In step 610, the central computer system updates the mobile robot with instructions.

[0084] Based on the decision made by the central computer system (611), in step 612, the mobile robot is flagged and its journey to the designated workstation is terminated. In some implementations, the mobile robot may travel to a location different from the designated workstation, such as, for example, a checkpoint.

[0085] In step 613, based on instructions transmitted from the central computer system, the new mobile robot travels to the target area and retrieves the target transport box from its location in the storage structure. In this way, the process flow is minimally interrupted, if any, because the system can continue to prepare orders while investigating and / or correcting the causes of deviations.

[0086] In step 614, the central computer system informs a designated workstation that a new mobile robot is en route to that workstation. In some implementations, the central computer control system may instruct the workstation to electronically reallocate purchase orders that are being prepared based on the time it will take for the new mobile robot to arrive at the workstation. In some embodiments, the workstation may electronically reallocate orders awaiting preparation based on communication from the central computer system to the new mobile robot en route to the workstation. Order reallocation decisions may be based on, for example, order priority, whether the order is refrigerated or ambient temperature, and / or other relevant factors.

[0087] In step 615, the workstation is designated to handle tasks related to fulfilling the purchase order. For example, when a new mobile robot arrives at the workstation, the workstation can display instructions on the user interface to retrieve (i.e., pick) a certain number of products from the transport box carried by the new mobile robot and place the products in the order transport box.

[0088] In step 616, the task is completed on the workstation, and in step 617, the workstation transmits the completion of the task to the central computer system.

[0089] In step 618, the new mobile robot is withdrawn or otherwise leaves the workstation.

[0090] The method is completed in step 609.

[0091] Can be repeated Figure 5 and / or Figure 6 The method described herein continues until one or more purchase orders are fulfilled. In some embodiments, one or more additional verification zones with associated sensors can be positioned such that a mobile robot carrying a completed order handling box passes through the verification zone after leaving the workstation. This configuration allows for automated verification of the order handling box before it is presented to the customer.

[0092] Figure 7 A simplified flowchart of an exemplary automated verification method 700 for a robot storage and retrieval system, according to some embodiments, is shown. In some embodiments, Figure 7 One or more steps can be performed by a processor-based device that executes computer-readable instructions stored on a memory device. In some embodiments, Figure 7 One or more steps can be referenced in this article. Figure 2 The central computer system 220 and / or verification computer system 230 (and / or components thereof) or other similar devices described herein are used to perform this action.

[0093] In step 710, before the verification area of ​​the mobile robot traversing the structure, the expected state of at least one of the mobile robot, the transport box, and the product is received. In some embodiments, the expected state may be received by the verification computer system from a central computer system. In some embodiments, the central computer system may be central computer system 220, and the verification computer system may be verification computer system 230. In some embodiments, the mobile robot may be mobile robot 210 or 310 or a similar device. In some implementations, the expected state of the product may include, but is not limited to: the quantity of product in the transport box, the quality of the product, the temperature of the product, the color of the product, its ripeness, spillage, and / or that the product is not damaged. In some implementations, the expected state of the mobile robot may include, but is not limited to, the expected operating state and / or functionality of the mobile robot (e.g., good working condition). In some implementations, the expected state of the transport box may include, but is not limited to, an intact transport box with a clean inner surface. The verification computer system may also receive the identification of the mobile robot from the central computer system.

[0094] In step 720, the verification computer system receives data from one or more sensors in the verification area of ​​the structure, relating to the current state of at least one of the mobile robot, the transport container, and the product. The one or more sensors may be sensor 240. The one or more sensors capture data as the mobile robot traverses the verification area.

[0095] In step 730, the verification computer system analyzes data received from one or more sensors to determine the current state of at least one of the mobile robot, the transport box, and the product. In some embodiments, the verification computer system may query one or more databases to correlate the captured sensor data with the known current state of one or more of the mobile robot, the transport box, and / or the product contained in the transport box. In some embodiments, the verification computer system may execute a trained machine learning model to correlate the captured sensor data with the known current state of one or more of the mobile robot, the transport box, and / or the product contained in the transport box.

[0096] In step 740, the verification computer system compares the current state with the expected state.

[0097] In step 750, the computer system detects deviation results. It determines whether a deviation exists between the current state and the expected state. Deviations from the expected product state may include, but are not limited to: insufficient product quantity in the transport box, product quantity in the transport box differing from the expected quantity, product temperature exceeding the target range, product color exceeding the target range, unacceptable product appearance (overcooked, undercooked, visual irregularities indicating product damage, overflow, etc.). Deviations from the expected state of the transport box may include, but are not limited to, visual irregularities indicating damage inside or outside the transport box, overflow within the transport box, etc. Deviations from the expected state of the mobile robot may include, but are not limited to: temperature exceeding the thermal range, indicating overheating of the mobile robot, visual irregularities, indicating damage (or reduced functionality) to one or more components of the mobile robot, etc.

[0098] In step 760, the indication of the deviation result transmitted by the computer system is verified. In some embodiments, the indication of the deviation result transmitted by the computer system is verified to be transmitted to a central computer system. The central computer system then makes a decision on how to instruct the mobile robot based on the indication of the deviation result.

[0099] The circuits, circuit modules, systems, devices, processes, methods, technologies, functionalities, services, servers, sources, etc. described herein can be used, implemented, and / or operated on many different types of devices and / or systems. Figure 8 An exemplary system 800 is shown, which can be used to implement Figures 5 to 7 The methods shown herein and any components, devices, circuits, circuit modules, systems, functionalities, apparatuses, processes, or equipment described herein are permitted. However, the use of System 800 or any part thereof is not necessarily required.

[0100] For example, system 800 may include one or more control circuits or processors 812, memory 814, and one or more communication links, paths, buses 818, etc. Some embodiments may include one or more user interfaces 816, and / or one or more internal and / or external power supplies or power supply devices 840. Processor 812 (which may form all or part of control circuits 221 and / or control circuits 231) may be implemented by one or more processors, microprocessors, central processing units, logic, local digital storage devices, firmware, software, and / or other control hardware and / or software, and may be used to perform or assist in performing the steps of the processes, methods, functionalities, and techniques described herein, and to control various communications, decisions, programs, content, lists, services, interfaces, records, reports, etc. Furthermore, in some embodiments, control circuit 812 may be part of a control circuit module and / or control system 810, which may be implemented by one or more processors capable of accessing one or more memories 814, which may store instructions, code, etc., implemented by the control circuits and / or processor to achieve the intended functionality, processing modules, etc. In some applications, control circuitry and / or memory may be distributed across a communication network (e.g., LAN, WAN, Internet) providing distributed and / or redundant processing and functionality. Similarly, system 800 may be used to implement one or more of the components, circuits, systems, processes, etc., described above or below, or in part.

[0101] User interface 816 allows users to interact with system 800 and receive information through the system. In some instances, user interface 816 includes a display 822 and / or one or more user inputs 824, such as buttons, touchscreens, trackballs, keyboards, mice, etc., which may be part of or coupled to system 800 via wired or wireless means. Typically, system 800 also includes one or more communication interfaces, ports, transceivers 820, etc., allowing system 800 to communicate with other devices via a communication bus, a distributed computer and / or communication network 818 (e.g., a local area network (LAN), the Internet, a wide area network (WAN), etc.), a communication link 818, other networks or communication channels, and / or other such communications or combinations of two or more such communication methods. Furthermore, transceiver 820 may be configured for wired, wireless, optical, fiber optic cable, satellite, or other such communication configurations or combinations of two or more such communications. Some embodiments include one or more input / output (I / O) ports 834 that allow one or more devices to couple to system 800. I / O ports can essentially be any relevant port or combination of ports, such as, but not limited to, USB, Ethernet, or other such ports. I / O interface 834 can be configured to allow wired and / or wireless communication coupling to external components. For example, the I / O interface can provide wired and / or wireless communication (e.g., Wi-Fi, Bluetooth, cellular, RF, and / or other such wireless communications), and in some instances can include any known wired and / or wireless interface devices, circuits, and / or connection devices, such as, but not limited to, one or more transmitters, receivers, transceivers, or combinations of two or more such devices.

[0102] In some embodiments, the system may include one or more sensors 826 to provide sensor information to the system and / or to another component (e.g., control circuitry 812 and one or more databases). Sensors may include virtually any relevant sensor, such as ranging sensors (e.g., optical units, sound / ultrasonic units, etc.), optical-based scanning sensors to sense and read optical patterns (e.g., barcodes, QR codes, etc.), imaging sensors, thermal sensors, cameras, RFID readers, other such sensors, or combinations of two or more such sensor systems. The foregoing examples are intended to be illustrative and not to convey an exhaustive list of all possible sensors. Rather, it will be understood that these teachings will apply to sensing any of a variety of environments in a given application setting.

[0103] System 800 includes examples of control and / or processor-based systems with control circuitry 812. Similarly, control circuitry 812 can be implemented by one or more processors, controllers, central processing units, logic, software, etc. Furthermore, in some implementations, control circuitry 812 can provide multiprocessor functionality.

[0104] The memory 814, accessible by the control circuitry 812, typically includes one or more processor-readable and / or computer-readable media accessible by the control circuitry 812, and may include volatile and / or non-volatile media such as RAM, ROM, EEPROM, flash memory, and / or other memory technologies. Furthermore, the memory 814 is shown as being within the control system 810; however, the memory 814 may be internal, external, or a combination of internal and external memory. Similarly, some or all of the memory 814 may be internal, external, or a combination of internal and external memory of the control circuitry 812. External memory can essentially be any relevant memory, such as, but not limited to: solid-state storage devices (SSDs) or drives, hard disk drives (HDDs), one or more Universal Serial Bus (USB) sticks or drives, flash secure digital (SD) cards, other memory cards, and other such memories or combinations of two or more such memories, and some or all of the memory may be distributed across multiple locations on a computer network. The memory 814 can store code, software, executable programs, scripts, data, content, lists, programming, programs, logs or historical data, user information, coupon information, manufacturer information, customer information, product information, etc. Although Figure 8 Various components are shown that are coupled together via a bus, but it should be understood that the various components may actually be directly coupled to the control circuitry and / or one or more other components.

[0105] In some embodiments, an automated verification system for a robot storage and retrieval system includes: a structure having multiple segments configured to allow a mobile robot to traverse the structure, wherein one of the segments includes a verification area; the mobile robot configured to traverse the structure to transport a transport box containing a product to a designated segment of the structure; one or more sensors located in the verification area, the one or more sensors configured to capture data relating to the current state of at least one of the mobile robot, the transport box, and the product as the mobile robot traverses the verification area; and a central control circuit communicatively coupled to the mobile robot, the one or more sensors, and the verification control circuitry, the central control circuitry being configured to... Before the mobile robot traverses the verification area, the expected state of at least one of the mobile robot, the transport box, and the product is transmitted to the verification control circuit. The verification control circuit is configured to: receive the expected state of at least one of the mobile robot, the transport box, and the product from the central control circuit before the mobile robot traverses the verification area; receive data related to the current state of at least one of the mobile robot, the transport box, and the product from one or more sensors located in the verification area; analyze the data received from the one or more sensors to determine the current state of at least one of the mobile robot, the transport box, and the product; compare the current state with the expected state; detect deviation results; and transmit an indication of the deviation results to the central control circuit.

[0106] In some embodiments, an automated verification method for a robot storage and retrieval system includes: receiving, by verification control circuitry, an expected state of at least one of a mobile robot, a transport box, and a product from a central control circuitry before a verification area of ​​a mobile robot traversing the structure, wherein the mobile robot is configured to traverse the structure to transport a transport box containing the product to a designated section of the structure; receiving, by verification control circuitry, data related to the current state of at least one of the mobile robot, the transport box, and the product from one or more sensors located in the verification area of ​​the structure; analyzing, by verification control circuitry, the data received from the one or more sensors to determine the current state of at least one of the mobile robot, the transport box, and the product; comparing the current state with the expected state; detecting deviation results; and transmitting an indication of the deviation results to the central control circuitry.

[0107] 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 will be considered to be within the scope of the concept of the invention.

Claims

1. An automated verification system for a robot storage and retrieval system, the automated verification system comprising: A structure having multiple segments configured to allow a mobile robot to traverse the structure, wherein one of the multiple segments includes a verification area; The mobile robot is configured to traverse the structure to transport a handling box containing the product to a designated section of the structure; One or more sensors are located in the verification area, the one or more sensors being configured to capture data related to the current state of at least one of the mobile robot, the transport box, and the product as the mobile robot traverses the verification area; as well as A central control circuit, communicatively coupled to the mobile robot, the one or more sensors, and the verification control circuit, is configured to: Before the mobile robot traverses the verification area, the expected state of at least one of the mobile robot, the transport box, and the product is transmitted to the verification control circuit. The verification control circuit is configured to: Before the mobile robot traverses the verification area, the expected state of at least one of the mobile robot, the transport box, and the product is received from the central control circuit; Data related to the current state of at least one of the mobile robot, the transport box, and the product is received from the one or more sensors located in the verification area; Analyze the data received from the one or more sensors to determine the current state of at least one of the mobile robot, the transport box, and the product; Compare the current state with the expected state; Detection deviation results; as well as The indication of the deviation result is transmitted to the central control circuit.

2. The system according to claim 1, wherein, Based on the deviation results, the central control circuit sends instructions to the mobile robot to proceed to the designated section of the structure.

3. The system according to claim 1, wherein, Based on the deviation results, the central control circuit sends instructions to the mobile robot to move to a location other than the designated section of the structure.

4. The system according to claim 1, wherein, Based on the deviation results, the central control circuit is configured to dispatch another mobile robot to obtain a second transport box containing the same product and proceed to the designated section of the structure.

5. The system according to claim 1, wherein, The designated segment is a workstation associated with a specific order to be prepared, and based on the deviation results, the central control circuit is configured to: The specific order for goods to be prepared is electronically replaced with another order for goods to be prepared at the designated workstation; and Dispatch another mobile robot to obtain a second transport box containing different products and proceed to the designated workstation.

6. The system according to claim 1, wherein, The one or more sensors include optical sensors, imaging sensors, radio frequency identification (RFID) sensors, temperature sensors, infrared sensors, humidity sensors, sound sensors, weight sensors, and / or proximity sensors.

7. The system according to claim 1, wherein, The current state of the mobile robot includes its operational state.

8. The system according to claim 1, wherein, The current state of the product in the transport box includes one or more of the following: quantity, quality, temperature, color, maturity, spillage, and damage.

9. The system according to claim 1, wherein, The designated section of the structure is a workstation associated with a specific order to be prepared, and the central control circuit instructs the mobile robot to obtain the transport box containing the product from the storage section of the structure, and to transport the transport box to the workstation by traversing the verification area, wherein the verification area is located between the storage section and the workstation, before reaching the workstation.

10. The system according to claim 1, wherein, The designated section of the structure is a storage section, and the central control circuit instructs the mobile robot to obtain the transport box containing the product from the loading section of the structure, and to transport the transport box to the storage section by passing through the verification area, wherein the verification area is located between the loading section and the storage section, before reaching the storage section.

11. An automated verification method for a robot storage and retrieval system, the automated verification method comprising: Before the verification area of ​​the structure, the verification control circuit receives the expected state of at least one of the mobile robot, the transport box, and the product from the central control circuit, wherein the mobile robot is configured to traverse the structure to transport the transport box containing the product to a designated section of the structure. The verification control circuit receives data from one or more sensors located in the verification area of ​​the structure, relating to the current state of at least one of the mobile robot, the transport box, and the product; The verification control circuit analyzes the data received from the one or more sensors to determine the current state of at least one of the mobile robot, the transport box, and the product; The verification control circuit compares the current state with the expected state. The deviation result is detected by the verification control circuit; as well as The verification control circuit transmits an indication of the deviation result to the central control circuit.

12. The method according to claim 11, wherein, Based on the deviation results, the central control circuit sends instructions to the mobile robot to proceed to the designated section of the structure.

13. The method according to claim 11, wherein, Based on the deviation results, the central control circuit sends instructions to the mobile robot to move to a location other than the designated section of the structure.

14. The method according to claim 11, wherein, Based on the deviation results, the central control circuit is configured to dispatch another mobile robot to obtain a second transport box containing the same product and proceed to the designated section of the structure.

15. The method of claim 11, wherein, The designated segment is a workstation associated with a specific order to be prepared, and based on the deviation results, the central control circuit is configured to: The specific order for goods to be prepared is electronically replaced with another order for goods to be prepared at the designated workstation; and Dispatch another mobile robot to obtain a second transport box containing different products and proceed to the designated workstation.

16. The method according to claim 11, wherein, The one or more sensors include optical sensors, imaging sensors, radio frequency identification (RFID) sensors, temperature sensors, infrared sensors, humidity sensors, sound sensors, weight sensors, and / or proximity sensors.

17. The method according to claim 11, wherein, The current state of the mobile robot includes its operational state.

18. The method according to claim 11, wherein, The current state of the product in the transport box includes one or more of the following: quantity, quality, temperature, color, maturity, spillage, and damage.

19. The method according to claim 11, wherein, The designated section of the structure is a workstation associated with a specific order to be prepared, and the central control circuit instructs the mobile robot to obtain the transport box containing the product from the storage section of the structure, and to transport the transport box to the workstation by traversing the verification area, wherein the verification area is located between the storage section and the workstation, before reaching the workstation.

20. The method according to claim 11, wherein, The designated section of the structure is a storage section, and the central control circuit instructs the mobile robot to obtain the transport box containing the product from the loading section of the structure, and to transport the transport box to the storage section by passing through the verification area, wherein the verification area is located between the loading section and the storage section, before reaching the storage section.

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