Retail order fulfillment allocation and dumping system and method

Abstract

Some embodiments provide an automated order fulfillment system comprising: a mobile robot; a storage structure comprising: a plurality of vertically spaced-apart levels; a plurality of vertical tower aisles; a plurality of lanes extending through the storage structure; storage locations at each of the plurality of levels and configured to store totes delivered by the mobile robot and retrieved by the mobile robot; and a dynamic workstation cooperating with an entry vertical tower aisle and an exit vertical tower aisle establishing a transverse first transport path through the workstation along which the mobile robot travels; wherein the workstation comprises an access compartment positioned relative to the first transport path and exposes at least one tote transported by the first mobile robot while the at least one tote remains on the first mobile robot without being removed from the first mobile robot as the at least one tote moves through the workstation.

Description

[0001] Cross-references to related applications This application claims the benefit of U.S. Provisional Application No. 63 / 626967, filed January 30, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0002] This invention generally relates to the automation of inventory storage and retrieval. Background Technology

[0003] Inventory management is crucial to the operations of many industries. Some industries use systems to move inventory. There is a need to improve inventory control and allocation. Attached Figure Description

[0004] This document discloses embodiments of systems, apparatus, and methods relating to automated inventory storage and retrieval. This description includes accompanying drawings, in which: Figure 1 A simplified isometric view of at least a portion of an exemplary order fulfillment system according to some embodiments is shown.

[0005] Figure 2 The illustration is a simplified top view of a portion of an exemplary storage structure according to some embodiments.

[0006] Figure 3A The illustration is a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and an exemplary workstation within the storage structure.

[0007] Figure 3B The illustration is a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and an exemplary workstation having a picking robot within the storage structure.

[0008] Figure 4 The illustrations are based on some embodiments. Figure 3A A partial transparent view of an exemplary workstation 106 within an exemplary storage structure.

[0009] Figure 5 Illustrations based on some embodiments Figure 4 A partial transparent view of an exemplary workstation 106 within an exemplary storage structure, wherein dashed lines illustrate an exemplary first delivery path.

[0010] Figure 6 The illustration is a simplified block diagram of a cross-sectional view of an exemplary workstation according to some embodiments and an exemplary mobile robot approaching a lateral transport path passing through the exemplary workstation.

[0011] Figure 7The illustration is a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and a partially transparent exemplary workstation formed within the storage structure and providing multiple lateral sections for lateral transport paths through the workstation.

[0012] Figure 8 The figure shows a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and an exemplary workstation formed within the storage structure, the exemplary workstation having an access compartment at a first level and one or more access drawers, shelves, etc. at a second level.

[0013] Figure 9 The figure shows a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and an exemplary workstation formed within the storage structure, the exemplary workstation having access compartments at a first level and multiple access drawers, shelves, etc. at a second level.

[0014] Figure 10 The illustration is a simplified block diagram of a cross-sectional view of an exemplary workstation having one or more exemplary security doors according to some embodiments, and an exemplary mobile robot approaching a lateral transport path passing through the exemplary workstation.

[0015] Figure 11 The illustration shows a simplified side view of an exemplary exit safety door according to some embodiments.

[0016] Figure 12A to Figure 12H The illustration is a simplified side view of a sequence of exemplary mobile robots passing through an exemplary exit safety gate, according to some embodiments.

[0017] Figure 13 The illustration is a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and an exemplary workstation having one or more user interfaces within the storage structure.

[0018] Figure 14A The illustration is a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and an exemplary workstation formed within the storage structure.

[0019] Figure 14B The illustration is a simplified block diagram of a portion of an exemplary storage structure according to some embodiments and an exemplary workstation having one or more user interface systems.

[0020] Figure 15 The illustrations are based on some embodiments. Figure 14A A partially transparent view of an exemplary workstation.

[0021] Figure 16The illustration shows a simplified transparent view of an exemplary workstation that collaborates with an exemplary inlet rotary platform and an exemplary outlet rotary platform, according to some embodiments.

[0022] Figure 17A The illustration is a simplified block diagram and top view of an exemplary mobile robot according to some embodiments, which enters an exemplary workstation via an exemplary entrance track connected to an exemplary entrance rotating platform.

[0023] Figure 17B The illustrations are based on some embodiments. Figure 17A A simplified block diagram and top view of an exemplary workstation, wherein an exemplary mobile robot rotates on an entrance rotating platform to orient the turnover box to align with the orientation of the access compartment.

[0024] Figure 17C The illustrations are based on some embodiments. Figure 17A A simplified block diagram and top view of an exemplary workstation, wherein an exemplary mobile robot self-propels into the workstation and climbs within the workstation via a vertical passageway of the exemplary workstation to position an exemplary turnover box at an exemplary access compartment.

[0025] Figure 18 The illustration is a simplified block diagram of an exemplary storage structure according to some embodiments, which includes at least two exemplary workstations within the storage structure.

[0026] Figure 19 The illustration is a perspective view of an exemplary multi-access cubicle workstation according to some embodiments.

[0027] Figure 20 The illustration shows a simplified transparent view of an exemplary multi-access compartment workstation that collaborates with an exemplary entrance rotary platform and an exemplary exit rotary platform, according to some embodiments.

[0028] Figure 21 The illustration is a simplified flowchart of an exemplary process for obtaining an item from a storage structure according to some embodiments.

[0029] Figure 22 A simplified flowchart illustrates an exemplary process for moving a mobile robot along a lateral transport path through a workstation, according to some embodiments.

[0030] Figure 23 The illustration is a simplified flowchart of an exemplary process for routing an additional mobile robot through one or more other transport paths that traverse a workstation, according to some embodiments.

[0031] Figure 24 The illustration is a simplified flowchart of an exemplary process for routing turnover boxes to workstations within a storage structure, according to some embodiments.

[0032] Figures 25 to 27 The illustration shows a perspective front view of another exemplary workstation or mobile robot receiving system according to some embodiments.

[0033] Figure 28 The illustration shows a perspective rear view of an exemplary workstation that collaborates with a platform according to some embodiments.

[0034] Figure 29 The illustration shows a simplified perspective front view of an exemplary multi-access cubicle workstation according to some embodiments.

[0035] Figure 30 The illustration is a simplified perspective rear view of an exemplary multi-access cubicle workstation that collaborates with a pair of platforms, according to some embodiments.

[0036] Figure 31 The illustrated exemplary system 3100 can be used to implement components, circuits, circuit systems, systems, functions, devices, processes or devices of an order fulfillment system, control circuit 110, mobile robot 102, workstation 106 and / or other systems or devices mentioned above or below, or portions of such circuits, circuit systems, functions, systems, devices, processes or devices.

[0037] Figure 31 The illustrations are based on some embodiments of methods, techniques, devices, apparatuses, systems, servers, sources, and exemplary systems for providing product order fulfillment, decanting, consolidation, and inventory management.

[0038] 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 of the elements in the figures may be exaggerated relative to other elements to aid in understanding the various embodiments. Furthermore, common but well-known elements that are useful or necessary in commercially viable embodiments are not typically depicted to facilitate observation of these various embodiments with less obstruction. 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 specificity regarding the order is not actually required. The terms and expressions used herein have the ordinary technical meaning consistent with those of ordinary skill in the art as set forth above, except where different specific meanings have been otherwise set forth herein. Detailed Implementation

[0039] The following description is not to be construed in a limiting sense, but is provided solely for the purpose of describing the general principles of exemplary embodiments. References throughout this specification to “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 the invention. Therefore, the phrases “in one embodiment,” “in an embodiment,” “in some embodiments,” “in some implementations,” and similar language throughout this specification may all refer to the same embodiment, but not necessarily to the same embodiment.

[0040] Retail facilities receive and temporarily store products that will be available for sale. Some such facilities further consolidate products from the temporarily stored products in fulfilling product orders. Some embodiments provide dynamic workstations for order fulfillment systems used in supply chains, such as in retail supply chains. These workstations enhance the dumping of products received at the facility and / or improve the fulfillment of product orders by providing a flow of products through the workstations so that items can be more easily accessed and moved in reduced quantities over time. In some embodiments, these workstations are used to fulfill orders from retail stores for products received from manufacturers, for fulfilling orders for discrete product units (referred to herein as “items” (other commonly used synonyms include “pieces,” “products,” “articles”) contained in such boxes) or for substantially any product ordered by stores or individual consumers in quantities of less than one box. Additionally or alternatively, at least some of the dynamic workstations can be used to dump or separate items in pallets, boxes, and / or other such groups into boxes, subgroups, items, and / or other reduced quantities. While embodiments can be used in other applications, such as the storage and retrieval of parts and work-in-process within manufacturing operations, one area of ​​use is order fulfillment in retail supply chains.

[0041] Figure 1A simplified isometric view of at least a portion of an exemplary order fulfillment system 100 according to some embodiments is shown. Although this embodiment will be described with reference to the embodiment shown in the figures, it should be understood that the invention may be embodied in many alternative embodiments. Additionally, any suitable size, shape, or type of material or element may be used. The order fulfillment system 100 and the disclosed embodiments may have features as described in the following patents and / or may have features as described in any suitable combination of the following patents: U.S. Patent No. 9,139,363 entitled “Automated Systems for Transporting Payloads,” U.S. Patent No. 1,114,2398 entitled “Order Fulfillment System,” and U.S. Patent No. 10,435,241 entitled “Storage and Retrieval System,” each of which is hereby incorporated herein by reference in its entirety. The order fulfillment system 100 may have product turnover boxes and order turnover boxes, as well as an autonomous mobile robot 102 or vehicle for transferring and transporting the turnover boxes. Furthermore, the order fulfillment system 100 includes a storage structure 104 with structural supports for storing the turnover boxes. Mobile robot 102 can operate and move in three dimensions throughout the order fulfillment system 100 to transport turnover boxes along tracks, vertical passages, platforms, ramps, and / or other substructures throughout the order fulfillment system 100. The operation and movement of the mobile robot are further described in U.S. Patent Nos. 9,139,363, 10,435,241, and 1,114,2398.

[0042] The order fulfillment system 100 further includes one or more types of workstations 106-107. Many (if not all) of the workstations 106 are integrated into and located within the storage structure 104 and can be accessed directly by the mobile robot 102 from within a matrix of tracks, vertical tower passages, ramps, and / or other such structures of the storage structure 104.

[0043] Figure 2 The illustration is a simplified top view of a portion of an exemplary storage structure 104 according to some embodiments. Reference Figures 1 to 2The storage structure provides a three-dimensional array or grid of tote storage locations 202 configured to receive and store tote boxes transported by the mobile robot 102. In some embodiments, the storage structure 104 may include a plurality of vertically spaced levels 108, wherein a plurality of vertical tower passages establish vertical paths between the levels. A plurality of aisles 204 extend through the storage structure 104, each aisle including a track extending along the length of each of the aisles, and the mobile robot travels along the track. Tote box storage locations 202 are positioned at the plurality of levels and located along both sides of each of the plurality of aisles 204. At least some of the storage locations 202 are configured to have a predetermined width, height, and depth corresponding to the size of the tote boxes, and are configured to store tote boxes delivered by and retrieved by the mobile robot 102. The storage structure 104, the turnover box storage location 202, the track, and the movement of the mobile robot 102 via the order fulfillment system 100 may be similar to those described in U.S. Patent Nos. 9,139,363, 10,435,241, and 1,114,2398. Some embodiments include one or more central control circuits 110 implemented via one or more processors, microprocessors, computers, software, network equipment, and / or other such control circuitry. The central control circuits 110 can be communicatively connected via one or more distributed wired and / or wireless communication and / or computer networks (e.g., local area networks (LANs), wide area networks (WANs), the Internet, cellular networks, local wireless networks (e.g., Bluetooth, Wi-Fi, ZigBee, etc.), other such networks, or combinations of two or more such networks) to mobile robots 102, workstations 106-107, worker communication devices (e.g., headsets, smartphones, smartwatches, other wearable systems, computers, laptops, tablets, etc.), customer communication devices (e.g., smartphones, wearable systems, computers, laptops, tablets, etc.), remote databases (e.g., inventory databases, suppliers, delivery vehicles, drones, etc.), other system components, and typically combinations of two or more such system components.

[0044] In some embodiments, workstation 106 may be part of and / or formed within storage structure 104. Furthermore, in some embodiments, workstations are configured to have a predetermined size to occupy a volume within the storage structure equal to a predetermined number of tote storage locations. One or more workstations may be used for allocation and dumping applications within order fulfillment system 100, enabling picking (e.g., placing picked products into bags, order tote boxes, etc.) and / or other operations using presented product tote boxes and products retrieved from product tote boxes during order fulfillment. Previously, workstations were static workstations where order tote boxes were removed from mobile robot 102 and temporarily stored awaiting use. These static workstations can be relatively slow, at least in part because of the transfer of tote boxes from the robot to the static workstation and subsequently back to the robot.

[0045] However, some embodiments provide a dynamic workstation 106 that, when a mobile robot transports totes through the workstation, can partially simplify the tote transfer process, reduce traffic flow, increase throughput, and improve tote allocation by allowing the totes to remain on the mobile robot 102. In some embodiments, an allocation process may occur where the robot 102 can sequentially present filled order totes at the workstation 106, where orders for multiple items can be efficiently transferred to carts, bags, other totes, directly to customers, and / or by other such methods. In some embodiments, a dumping process may occur where a mobile robot can sequentially move through the workstation with empty product totes receiving one or more items that can be used as inventory for subsequent order fulfillment. In some embodiments, the dynamic workstation 106 may also be used for picking, where product totes are presented with items that are retrieved and placed in order totes within the dynamic workstation or in order totes, bags, etc., outside the workstation.

[0046] In some embodiments, the dynamic workstation 106 is within and / or cooperates with the storage structure, and provides a lateral transport path for the robot 102 to traverse the workstation 106. In this way, the robot 102 can directly access the workstation from within the storage structure without leaving the storage structure. For at least some implementations, this can significantly increase throughput, reduce the number of mobile robots 102 utilized, and reduce the time spent between the storage location and the workstation.

[0047] Figure 3A The figure shows a simplified block diagram of a portion of an exemplary storage structure 104 according to some embodiments and an exemplary workstation 106 within the storage structure 104. Figure 3BThe figure shows a portion of an exemplary storage structure 104 according to some embodiments and an exemplary workstation 106 having a picking robot 322 and located within the storage structure 104. Figure 4 The illustrations are based on some embodiments. Figure 3A A partial transparent view of an exemplary workstation 106 within a portion of an exemplary storage structure 104. (Reference) Figures 1 to 4 In some embodiments, workstation 106 provides at least one lateral transport path through the workstation, along which robot 102 moves to move through the workstation while transporting a corresponding tote 302. The lateral transport path may include one or more substantially horizontal lateral tracks 402 along which the robot engages, and along which the robot can travel through workstation 106. The lateral tracks 402 may be similar to those described in U.S. Patent Nos. 9,139,363, 10,435,241, and 1,114,2398, and U.S. Patent Application Publications Nos. 2019 / 0270591 and 2021 / 0229271, each of which is incorporated herein by reference in its entirety. For example, the wheels 404 of robot 102 are supported by a portion of the lateral track 402, and the robot self-propels along the track. Figure 5 Illustrations based on some embodiments Figure 4 A partial transparent view of an exemplary workstation 106 within a portion of an exemplary storage structure 104, wherein the dashed lines illustrate an exemplary first transport path 502. Figure 6 The figure is a simplified block diagram of a cross-sectional view of an exemplary workstation 106 according to some embodiments and an exemplary mobile robot 102 approaching a lateral transport path 502 passing through the exemplary workstation 106.

[0048] refer to Figures 1 to 6In some embodiments, workstation 106 may cooperate with one or more entrance vertical tower passages 304 that are within and form part of storage structure 104. The vertical tower passage 304 may include one or more lifting rails that may be engaged by one or more climbing systems of a robot, enabling the robot to self-propel itself vertically upward and downward within the storage structure. The lifting rails of the vertical tower passage 304 and the robot's climbing system may be similar to one or more of those described in U.S. Patent Nos. 9,139,363, 1,043,5241, and 1,114,2398, and U.S. Patent Application Publications Nos. 2019 / 0270591 and 2021 / 0229271. In some embodiments, the entrance vertical tower passage 304 may be positioned on a first side 306 of the workstation. Furthermore, workstation 106 may cooperate with one or more exit vertical tower passages 308 positioned on a second side 310 of the workstation opposite the first side. Accordingly, a first lateral transport path 502 is provided from an entrance vertical tower passage 304 located within the storage structure and on a first side 306 of workstation 106, along a lateral track 402 passing through workstation 106, and in cooperation with one or more exit vertical tower passages 308 located on a second side 310 of workstation 106. Robot 102 can be routed along this lateral transport path while transporting turnover boxes 302.

[0049] Workstation 106 further includes one or more access compartments 314 positioned relative to transport path 502, and exposing a tote 302 when it is transported by a corresponding one of robots 102, while the tote 302 remains on the robot 102 and is not removed from the mobile robot as it moves through workstation 106. In some embodiments, the access compartment 314 is sized to expose more than one tote, and in some embodiments is sized to simultaneously expose all of at least two tote 302 for at least an exposure period, while each of the at least two tote 302 remains on the corresponding mobile robot that transported the corresponding tote through the workstation. The exposure period may depend on one or more factors, including at least the transport rate of the robot 102 through workstation 106, whether the robot slows down and / or stops when positioned near and / or within the access compartment 314, and / or other such factors. Additionally or alternatively, in some embodiments, workstation 106 may include an operator control device that allows an operator to input one or more control commands that may affect the rate at which the robot moves through workstation 106 and / or through access compartment 314. Similarly, some embodiments may additionally or alternatively include sensors that may detect the completion of actions and / or actions in controlling the rate at which one or more mobile robots 102 move through the workstation (e.g., one or more sensors may detect that an item intended to be removed from a turnover box 302 has not been removed within a threshold distance on the exit side of the access compartment (and / or an item is to be inserted into the turnover box 302 but has not yet been inserted), and may cause the rate of transport to be adjusted and / or temporarily stopped, for example using sensors similar to those described in U.S. Patent Application Publication No. 20170313514, which is incorporated herein by reference in its entirety). In some embodiments, the transport path 502 may include a horizontal portion within the workstation 106 that extends between the entrance vertical tower passage 304 and the exit vertical tower passage 308.

[0050] As the robot traverses workstation 106, it passes through access compartment 314 while simultaneously self-propelling along the horizontal portion of workstation 106. When workstation 106 is operating in distribution mode, a subset of mobile robots 102 at the facility are guided to corresponding turnover box storage locations 202 within storage structure 104 to retrieve the corresponding turnover box based on one or more specific items stored within it, and are guided to self-propel through storage structure 104 to the corresponding workstation 106, thereby transporting the turnover box and one or more items within it to the workstation to allow workers 320, robotic arms 322, and / or other such robotic systems to retrieve one or more items from turnover box 302 as the turnover box is moved by robots 102 through workstation 106 and along access compartment 314. Alternatively, when operating in dump mode, robot 102 transports turnover boxes 302 along access compartment 314 to receive one or more items, and can then be guided to available turnover box storage locations 202 within storage structure 104. Typically, multiple mobile robots 102, each carrying a corresponding turnover box, are routed to workstation 106 at any given time during operation of the workstation, allowing the robot queue to approach, pass through, and leave the workstation. Multiple central control circuits 110 and / or other local and / or remote systems can guide the robots 102 to be routed sequentially to workstation 106, wherein the robots self-propelled to travel laterally along transport path 502 through the workstation, thereby providing a continuous flow of turnover boxes transported by multiple mobile robots through access compartments, allowing items to be removed from and / or inserted into the corresponding turnover boxes 302.

[0051] In some embodiments, each of the plurality of mobile robots 102 may include one or more sensors, the one or more sensors being communicatively coupled to one or more robot control circuits and / or systems that receive sensor signals and / or data from the one or more sensors. In some embodiments, the robot control circuitry may detect the movement of a preceding robot among the plurality of mobile robots moving along a transport path 502 and through a workstation. Based on the detected movement of the preceding robot, the robot control circuitry may control one or more drive systems to move robot 102 along the lateral transport path 502. In some embodiments, such movement may mimic the (multiple) movements of the preceding robot as it travels through access compartment 314, thereby maintaining a continuous flow of turnover boxes 302 through the access compartment based on the queuing sequence of robots routed to the workstation. This continuous flow does not require the robots to stop and further does not include the release of turnover boxes 302 from robot 102. Other known workstations typically require the removal of turnover boxes 302 from robots. In some of these other known workstations, unloading turnover boxes is queued at the workstation, and the workstation includes a mechanical system to move the unloaded turnover boxes to a location that will be approached by a worker and / or the mechanical system. Such unloading requires additional space to allow the robot to move to the location and space for receiving the unloaded totes. Furthermore, unloading can add a significant amount of time to eventually position the unloaded totes in a near-position. Additionally, this unloading typically greatly increases the complexity of workstations for handling and manipulating the unloaded totes within and across these workstations. This complexity and the added time in moving the totes are further exacerbated because these unloaded totes must be subsequently retrieved by the robot after use at the workstation. This typically requires additional loading areas at the workstation, increased complexity in moving the totes to a location that allows the robot to retrieve them, and increased delays in the robot loading the totes.

[0052] However, some current embodiments provide a straight-through lateral transport path 502 that enables the robot 102 to transport the tote 302 directly to the workstation 106 while sequentially self-propelling the tote through the workstation 106 in a transport manner across the access compartment 314. This allows for continuous access to the tote 302 by one or more workers and / or one or more robotic systems, while the tote remains on the robot 102 and is transported by the robot through the workstation 106. This can significantly increase throughput, reduce workstation complexity, reduce potentially disruptive downtime due to potential failures of one or more parts of other types of workstations, reduce the volumetric footprint of the workstation 106, and provide other benefits as described above and below, as well as others not explicitly listed. The sequential queuing of the tote allows the order fulfillment system 100 and the workstation 106 to control the flow of tote so that the next queued tote is ready and available when immediate access is required. This can significantly reduce latency and increase throughput, in part, by eliminating the need for a waiting workstation to move an unwanted tote back to a waiting robot, move the robot away, wait for a subsequent robot to take its place, unload the tote into the workstation, and position the unloaded tote in a location that will be approached by a worker. Furthermore, in some embodiments, workstation 106 and the lateral path enable the system to have totems already queued and available when a worker or picking robot is ready to pass through a continuous flow of totems. Workers and / or picking robots can continue picking from totems as needed and then move to subsequent totems when they are moved into the access compartment and available. In this way, there is essentially no waiting time for workers between totem presentations. Moreover, the rate of totem flow can be controlled to match the rhythm of workers and / or picking robots. Some embodiments use sensors and / or input from workers to identify when and / or at what rate robots and totems are moved through access compartments.

[0053] In some embodiments, the lateral transport path 502 traverses the workstation at a single level 108b in the vertical level 108. Each robot 102 may descend or ascend vertically along the entrance vertical tower passage 304 to a single level 108b aligned with the first transport path, traverse laterally along the horizontal portion of the lateral transport path 502 at the single level 108b, thereby transporting a corresponding one of the turnover boxes 302 through the workstation 106 and exposing the turnover box 302 at the access compartment 314, continue laterally through and out of the workstation 106, and enter the exit vertical tower passage 308 to ascend or descend vertically away from the workstation 106 along the exit vertical tower passage 308.

[0054] Figure 7The illustration shows a simplified block diagram of a portion of an exemplary storage structure 104 according to some embodiments and a partially transparent exemplary workstation 106 formed within the storage structure 104 and providing multiple lateral portions of a lateral transport path 502 through the workstation. In some embodiments, one or more of the workstations 106 include multiple lateral portions, each along a separate layer (e.g., layers 108a, 108b), through which a robot travels laterally along one of the respective individual layers 108a, 108b. In some embodiments, one or more additional lateral portions of the lateral path through the workstation 106 enable attachment to one or more additional tote bags 302 transported by the robot.

[0055] Figure 8 The figure shows a simplified block diagram of a portion of an exemplary storage structure 104 according to some embodiments and an exemplary workstation 106 formed within the storage structure 104. The exemplary workstation 106 has an access compartment 314 at a first level 108b and one or more access drawers 802, shelves, etc. at a second level 108a. Figure 9 The figure shows a simplified block diagram of a portion of an exemplary storage structure 104 according to some embodiments and an exemplary workstation 106 formed within the storage structure 104. The exemplary workstation 106 has an access compartment 314 at a first level 108b and a plurality of access drawers 802, shelves, etc. at a second level 108a. Reference Figures 7 to 9 A second horizontal transport path through workstation 106 may be vertically positioned at a second level 108a below the first level 108b, and extends from the entrance vertical tower passage 304 through workstation 106 to the exit vertical tower passage 308. Typically, the second transport path is not accessible from access compartment 314. One or more access drawers 802, shelves, etc., may be disposed separately from access compartment 314 in workstation 106.

[0056] In some embodiments, one or more access drawers 802 may be positioned along a second lateral portion, adjacent to a second transport path and / or one or more other paths at one or more other levels, and accessible by one or more additional robots from the second transport path and / or one or more other paths at one or more other levels. One or more access drawers 802 may be configured to expose at least one additional tote 302 transported by an additional mobile robot. In some embodiments, the tote is removed from the additional robot to be inserted into the access drawer 802. In some embodiments, the access drawer 802 may extend and retract to expose the interior of the drawer and / or the tote. In other instances, the access drawer may not retract. Furthermore, in some embodiments, one or more of the access drawers may include a lifting mechanism that elevates the tote 302 for easier access by a colleague and / or picking robot. For example, in some embodiments, an access drawer at a lower level 108a may elevate a tote inserted into the access drawer to a second higher level 108b, approximately similar to the level of access compartment 314. The turnover box 302 supplied to workstation 106 by the robot may be a product turnover box (which transports products to the workstation for picking by colleagues, picking robots, or other such retrievers), an order turnover box to receive one or more items in a collected and / or consolidated order, a sub-turnover box, etc., a turnover box that consolidates items from multiple different turnover boxes into an open turnover box storage location 202 within storage structure 104, other such turnover boxes, or combinations of different turnover boxes transported to workstation 106 by robot 102 without leaving the storage structure. Furthermore, in some embodiments, the turnover box may be supplied to workstation 106 from outside storage structure 104 and incorporated into the storage structure from workstation 106. For example, a turnover box can be inserted into an access drawer 802 and retrieved by a robot 102 and moved to a turnover box storage location 202, another workstation, and / or routed through storage structure 104 to one or more other parts of the storage structure and / or facilities within the storage structure. Similarly, external carts 806, trolleys, movable shelves, pallets, storage boxes, turnover boxes, and / or other such devices can be moved to a workstation to receive items retrieved from turnover boxes 302 at workstation 106, and / or supply items to workstation 106 for dumping and placement into turnover boxes 302, which can be moved by a robot into storage structure 104.One or more sensors may be incorporated into workstation 106 to detect identification information (e.g., barcodes, QR codes, names, alphanumeric identifiers, color patterns, etc.) of one or more totes 302, carts 806, robots 102, items, etc., in tracking the movement of items removed from and / or introduced into the storage structure, order assembly, item dumping and / or other such movements of items, robots, totes and / or other components of the order fulfillment system 100.

[0057] In some embodiments, a mobile robot 102 is guided to route product totes to access compartments 314 of workstation 106 to provide flow of totes 302 from which items can be retrieved in fulfilling orders. Similarly, in some embodiments, order totes may be supplied to one or more drawers 802 for receiving picked items in consolidation orders. Typically, order totes move at a lower rate than product totes are transported, partly because many orders require more than one item from different totes. Accordingly, product totes typically move through the workstation at a faster rate than order totes. Furthermore, the positioning of order totes in drawers places them in easily accessible locations to allow for rapid retrieval and consolidation. The workstation may include one or more user interface systems to help guide picked items toward placement in appropriate order totes and / or sub-totes.

[0058] Figure 10 The illustration is a simplified block diagram of a cross-sectional view of an exemplary workstation 106 having one or more exemplary security doors 1002-1003 according to some embodiments, and an exemplary mobile robot 102 approaching a lateral transport path traversing the exemplary workstation 106. For example, some embodiments include an exit security door 1002 positioned between an access compartment 314 and an exit vertical tower passage 308, and an entrance security door 1003 positioned between an entrance vertical tower passage 304 and an access compartment 314. These security doors may at least partially restrict access to the storage structure 104 outside the access compartment 314. In some embodiments, the entrance and exit security doors may be identical. For example, the security door may be a flap hinged to rotate in response to pressure applied to the door by the robot. In other embodiments, the exit security door 1002 may differ from the entrance security door 1003 by including a damper or other system or structure that slows and / or limits the rate of movement of the security door. The damper may be implemented by one or more hydraulic pistons, hydraulic hinges, springs, descent limiters, other such structures, or combinations of two or more such structures. In some embodiments, one or more motors may cooperate with each security door to move the security door to allow the robot to move into and out of the access compartment.

[0059] Figure 11 The illustration shows a simplified side view of an exemplary exit safety door 1002 according to some embodiments. Figures 12A to 12B Figure 12H The illustration shows a simplified side view of an exemplary mobile robot 102 passing through an exemplary exit safety gate 1002 according to some embodiments. Reference Figures 10 to 12H The exit safety gate 1002 includes a door flap 1102 configured to be vertically suspended and typically has dimensions similar to the exit of workstation 106 to restrict access to storage structures outside the workstation. In some embodiments, the exit safety gate includes one or more mounting hinges 1104 that rotatably connect the door flap 1102 to the workstation while allowing the door flap to swing. A descent limiter 1106 may cooperate with the door flap 1102 to limit the rate of descent of the door flap as the mobile robot 102 passes through the exit safety gate. In some embodiments, the descent limiter 1106 includes one or more bars, plates, and / or other such structures having a predetermined length 1108. The predetermined length 1108 may depend on one or more factors, such as, but not limited to, the height of the door flap 1102, the height of the robot 102 and / or the turnover box 302 and the robot, the distance from the exit safety gate and the exit vertical tower passage 308, the desired descent rate, and / or other such factors.

[0060] In some embodiments, the entrance security door 1003 is positioned along the transport path through the workstation to be contacted and opened by each of the robots transporting a corresponding one of the tote bags toward the access compartment, and the exit security door 1002 is positioned along the transport path to be contacted and opened by each of the robots transporting a corresponding one of the tote bags away from the access compartment. For example, in some embodiments, as the robot moves away from the access compartment 314, the robot 102 contacts and pushes the door flap 1102 (e.g., see FIG. 12B) (e.g., see FIG. 12C), which rotates upward in response to a force applied by the robot (and / or one or more motors, springs, and / or other such systems that may be additionally or alternatively utilized), allowing the robot to move through the exit and leave the access compartment. After the robot passes the door flap 1102 (e.g., see FIG. 12E), the door flap 1102 begins to swing downward and backward toward the exit of the access compartment. In some embodiments, as the door flap begins to swing back, the descent limiter 1106 contacts one or more portions of the robot 102 (e.g., see FIG. 12F). As the robot continues to move away from the exit, the angle of the descent limiter 1106 decreases, and the door flap 1102 continues to swing toward the exit of the access compartment at a decreasing speed until the robot is at a threshold distance from the exit of the access compartment (which corresponds to the length 1108 of the descent limiter 1106) (e.g., see FIG. 12G), at which point the security door drops from the rear edge of the robot (e.g., rear edge 1202), and the door flap 1102 continues to swing toward the exit and effectively closes the exit (e.g., see FIG. 12G to FIG. 12F). Figure 12H In some embodiments, one or more latches, locks, hydraulic devices, or other systems may prevent the exit safety door from opening or make it more difficult to open until one or more buttons, levers, latches, sensors, and / or other such locking mechanisms or combinations of such locking mechanisms are triggered by the movement of the robot and / or by the workstation control circuitry to trigger the safety locking mechanism to unlock the exit safety door and allow the exit safety door to open.

[0061] Figure 13 The illustration shows a portion of an exemplary storage structure 104 according to some embodiments and a simplified block diagram of an exemplary workstation 106 within the storage structure 104 having one or more user interfaces. In some embodiments, the workstation 106 may include one or more user interfaces, input / output systems, instruction and / or guidance systems, or combinations of two or more such systems, which may, for example, provide guidance to workers when retrieving and / or inserting items from one or more turnover boxes accessible via access compartments 314a-314b, enabling one or more users at the workstation to input information and / or activate one or more actions, other such interactions, or combinations of two or more such interactions.

[0062] The user interface may include, but is not limited to, one or more displays 1302 and / or touchscreens, one or more user input interfaces 1304 (e.g., keyboard, mouse, touchpad, buttons, other such input interfaces, or combinations of two or more such input interfaces), camera 1306, sensors, lighting systems and / or laser pointer systems 1308, audio systems, other such user interface systems, or combinations of such systems. For example, the user interface system may include one or more machine vision subsystems (“MVS”) included within and / or near the workstation. The camera assembly (including lighting if desired) may be pointed at the access compartment 314 and / or the user. In some embodiments, the camera may be connected to a vision computer programmed to follow the movement of the user and / or the user’s hand and analyze the contents of the turnover box and items removed from and / or added to the turnover box. Similarly, the camera and / or other sensors may detect the user’s movement and / or track the movement of the turnover box relative to the access compartment. The lamp and / or laser 1308 may be aimed and / or focused to illuminate the turnover box and / or one or more items within the turnover box to indicate that an item will be removed and / or that an item will be moved into the turnover box. A display and / or audio system may provide instructions to the user to provide detailed instructions, which may include images, pictograms, animations, videos, and / or other relevant content to provide the user with relevant instructions and / or information. The user interface of the workstation may be similar to those described in U.S. Patent Nos. 9,139,363, 10,435,241, and 1,114,2398, and U.S. Patent Application Publications Nos. 2019 / 0270591 and 2021 / 0229271, each of which is incorporated herein by reference in its entirety.

[0063] In some embodiments, the lateral transport path within the workstation includes transitions between two or more levels 108. Furthermore, vertical transitions between levels are typically implemented by the robot self-propelling itself as it moves between levels.

[0064] Figure 14A The figure shows a simplified block diagram of a portion of an exemplary storage structure 104 according to some embodiments and an exemplary workstation 106 formed within the storage structure 104. Figure 14B The figure shows a simplified block diagram of a portion of an exemplary storage structure 104 according to some embodiments and an exemplary workstation 106 having one or more user interface systems. Figure 15 The illustrations are based on some embodiments. Figure 14A A partially transparent view of an exemplary workstation 106. Figure 16The illustration shows a simplified transparent view of an exemplary workstation 106 cooperating with an exemplary inlet rotary platform 1406 and an exemplary outlet rotary platform 1407, according to some embodiments. References Figures 14A to 16 Workstation 106 can be embedded within storage structure 104, occupying an area with a length equal to a predetermined number of storage locations 202 (e.g., 8 storage locations, 10 storage locations, or other numbers of storage locations). This allows for seamless integration of workstation 106 without modifying the basic structure of the storage structure and simplifies the implementation of workstation 106. Furthermore, a through-path transport path allows mobile robot 102 to enter workstation 106 at a first side and exit at a second side. In some embodiments, the workstation includes a lower layer 1402 and at least one upper layer 1404 vertically positioned above the lower layer 1402. In some embodiments, layers 1402 and 1404 correspond to two of the layers 108 of storage structure 104 (e.g., layer 108a corresponds to the lower layer 1402 of workstation 106, and layer 108b corresponds to the upper layer 1404 of the workstation). In some embodiments, each level 1402, 1404 of the workstation may cooperate with a corresponding rotary platform 1406-1407. The rotary platforms 1406-1407 enable the robot to rotate to orient the tote boxes transported by the robot to align with the orientation of the access compartment 314 of the workstation 106.

[0065] Still referencing Figures 14A to 15 The lower level 1402 of workstation 106 may serve as an entrance level, where robot 102 moves in from the lower entrance rotary platform 1406. Workstation 106 may include one or more workstation vertical passages 1414 forming portions of a transport path. The one or more workstation vertical passages 1414 may resemble entrance vertical tower passages 304 and / or exit vertical tower passages 308. Robot 102 may engage one or more of the workstation vertical passages 1414 and self-propel itself from the lower level 1402 to the upper level 1404. In some embodiments, the workstation vertical passages 1414 are vertically aligned with access compartments 314 and configured such that robot 102 can vertically self-propel and move the corresponding turnover box 302 to an aligned position within the access compartment 314. Furthermore, in some embodiments, one or more of the vertical passages 1414 may include one or more charging rails to allow the mobile robot to charge while climbing and / or cooperating with the vertical passage. Alternatively or concurrently, one or more charging rails may be located adjacent to one or more positions within the vertical channel, enabling the mobile robot to access and recharge its internal power source. Some embodiments may further include one or more charging rails that cooperate with and / or are adjacent to one or more inlet vertical tower channels 304 and / or one or more outlet vertical tower channels 308.

[0066] Workstation 106 may include and / or cooperate with entrance track 1420, which cooperates with and extends from entrance vertical tower passage 1422. Entrance track 1420 may be vertically aligned with and connected to entrance rotary platform 1406, thereby establishing a portion of a lateral transport path through workstation 106. In some embodiments, entrance rotary platform 1406 includes a planar surface on which robot 102 rotates to orient corresponding turnover box 302 to align with the orientation of access compartment 314.

[0067] Workstation 106 may further include an exit rotary platform 1407 positioned adjacent to access compartment 314 along a transport path and cooperating with one or more exit vertical tower passages 1426. In some embodiments, a mobile robot 102 leaves the access compartment and moves onto the exit rotary platform 1407, and may rotate on the exit rotary platform to orient the respective mobile robot 102 relative to one or more exit vertical tower passages 1426.

[0068] The user interface system may include, but is not limited to, one or more displays 1302 and / or touchscreens, one or more user input interfaces 1304 (e.g., keyboard, mouse, touchpad, buttons, other such input interfaces, or combinations of two or more such input interfaces), camera 1306, sensors, lighting systems and / or laser pointer systems 1308, audio systems, other such user interface systems, or combinations of such systems. The user interface system may be similar to those described above and / or those described in U.S. Patent Nos. 9,139,363, 10,435,241, and 1,114,2398, and U.S. Patent Application Publications Nos. 2019 / 0270591 and 2021 / 0229271, each of which is incorporated herein by reference in its entirety.

[0069] Figure 17A The figure shows a simplified block diagram and top view of an exemplary mobile robot 102 according to some embodiments, which enters an exemplary workstation 106 via an exemplary entry track 1420 connected to an exemplary entry rotating platform 1406. Figure 17B The illustrations are based on some embodiments. Figure 17A A simplified block diagram, top view of an exemplary workstation 106, wherein an exemplary mobile robot 102 rotates on an entrance rotating platform 1406 to orient the turnover box 302 in alignment with the orientation of the access compartment 314. Figure 17C The illustrations are based on some embodiments. Figure 17AA simplified block diagram and top view of an exemplary workstation 106, wherein an exemplary mobile robot 102 self-propels into the workstation and climbs within the workstation via an exemplary workstation vertical passage 1414 to position an exemplary turnover box 302 at an exemplary access compartment 314.

[0070] refer to Figures 14A to 17C In some embodiments, the entrance rotary platform 1406 is positioned at a first level in the vertical tiers 108, and the exit rotary platform 1407 is positioned at a second level in the vertical tiers 108. Each robot vertically descends one of one or more entrance vertical tower channels 1422 to the first level vertically aligned with the entrance rotary platform 1406, and typically self-propelles onto the entrance rotary platform 1406 according to a pre-arranged queue order. In some embodiments, access compartments may be positioned at a second level in the vertical tiers 108, which is vertically higher than the first level. The mobile robot 102 may advance along the entrance rotary platform 1406 to align and engage with the workstation vertical channel 1414, and self-propelles to move vertically through the workstation vertical channel to transition from the first level to the second level, thereby aligning the corresponding turnover box 302 with the access compartment 314. Upon confirmation from the workstation control circuitry, central control circuitry, or other systems that no additional items will be removed from or inserted into the turnover box 302, the mobile robot 102 may leave the access compartment onto the exit rotary platform 1407, rotate to align with the exit track 1430, and advance along the exit track 1430 to align and engage with one of one or more exit vertical tower channels 1426. In some embodiments, the exit rotary platform 1407 is located at a second level in the vertical hierarchy and is vertically above the entrance rotary platform 1406. Furthermore, in some embodiments, the exit rotary platform 1407 is vertically aligned with the entrance rotary platform 1406.

[0071] In some embodiments, the mobile robot 102 continues to flow sequentially into and across a lateral transport path to sequentially expose different turnover boxes from which products can be retrieved and / or inserted. In some embodiments, the mobile robot 102 includes one or more sensors that provide information to robot control circuitry, which controls the movement of the mobile robot based on the sensor information. The sensor information may include one or more sensors that provide movement sensor information corresponding to the movement of the preceding mobile robot in the sequence of mobile robots transporting turnover boxes to workstation 106. This enables a continuous, sequential flow of turnover boxes across the workstation.

[0072] Figure 18The illustration shows a simplified block diagram of an exemplary storage structure 104 according to some embodiments, which includes at least two exemplary workstations 106 within the storage structure 104. The storage structure provides multiple transverse tracks 402 along which a mobile robot 102 can traverse the storage structure to transport turnover boxes 302 and / or other objects. A mobile robot 102, guided to one of the workstations, advances to an entrance vertical tower passage 1422, descends to a level of an entrance rotating platform 1406, and moves into the workstation. The robot can rotate and self-propel itself into and upward into the access compartment of the workstation 106. While performing actions at a workstation (e.g., removing items, adding items to a tote, auditing items in a tote, maintenance, and / or other actions), the mobile robot can move to the exit rotating platform, align with the exit track 1430, and advance to the exit vertical tower passage 1426 to return to the storage location within the storage structure 104, where the transported tote will be returned, or routed to another workstation or the same workstation for order fulfillment and / or for receiving one or more items into the tote.

[0073] Figure 19 The illustration shows a perspective view of an exemplary multi-access cubicle workstation 1906 according to some embodiments. Figure 20 The illustration shows a simplified transparent view of an exemplary multi-access compartment workstation 1906 that collaborates with an exemplary entrance rotary platform 1406 and an exemplary exit rotary platform 1407, according to some embodiments. References Figures 19 to 20In some embodiments, the dual workstation 1906 may include two or more adjacent access compartments, such as a first access compartment 314a and a second access compartment 314b, each cooperating with a corresponding internal workstation vertical aisle 1414. In some embodiments, the multiple access compartments 314a-314b each cooperate with the entrance rotary platform 1406 and the exit rotary platform 1407 (or corresponding entrance rotary platforms 1406 and exit rotary platforms 1407) via the input guide rail 1910 and the output guide rail 1912, with the mobile robot 102 traversing the input guide rail 1910 and the output guide rail 1912 to align with the corresponding access compartments 314a-314b. In some embodiments, the input guide rail 1910 and / or the output guide rail 1912 may include one or more guide buffers 1914 that may taper relative to the respective guide rails to provide a wider inlet or outlet than the corresponding input guide rail 1910 and / or the output guide rail 1912, to help guide the robot 102 relative to the input guide rails and / or the output guide rails. In some embodiments, the guide rails are similar to the lateral rails of the storage structure 104 and / or similar to the inlet rail 1420 and / or the outlet rail 1430, and cooperate with the internal workstation vertical passage 1414 (similar to the cooperation between the lateral rails and the vertical passage of the storage structure), thereby enabling the mobile robot to transition from horizontal movement to vertical self-propulsion within the workstation to position the corresponding turnover box 302 at the corresponding access compartment 314.

[0074] In some embodiments, workstation 1906 may cooperate with one or more entrance vertical tower passages 1422 located within storage structure 104 and on a first side of workstation 1906. Additionally, the workstation typically cooperates with one or more exit vertical tower passages 1426, which in some embodiments are located on a second, opposite side of the workstation, thereby providing a lateral path for mobile robot 102 to traverse workstation 1906. Multi-access compartment workstation 1906 may include multiple access compartments 314a-314b, each cooperating with one or more entrance vertical tower passages 1422 and configured to expose corresponding turnover boxes 302 transported by individual mobile robots 102, while the respective turnover box remains on the corresponding mobile robot and is not removed from the corresponding mobile robot as the turnover box moves through workstation 1906.

[0075] In some embodiments, a first access compartment 314a of two or more access compartments of workstation 1906 may be located near a second access compartment 314b of two or more access compartments, wherein a first turnover box can be accessed through the first access compartment while a second turnover box can be accessed through the second access compartment. An entrance track 1420 may extend from one or more entrance vertical tower passages 1422 and cooperate with one or more entrance rotary platforms 1406 coupled to the entrance track. The entrance rotary platform 1406 may include a planar surface on which the mobile robot 102 may rotate to orient a corresponding turnover box 302 to align with the orientation of one of the two or more access compartments 314a-314b. In some embodiments, the multi-access compartment workstation 1906 may include a plurality of workstation vertical passages 1414a-1414b. For example, the vertical passage 1414a of the first workstation can be positioned as a climbing path provided by the mobile robot to the first access compartment 314a, and the vertical passage 1414b of the second workstation can be positioned as a climbing path provided by the mobile robot to the access compartment 314b.

[0076] The first workstation vertical aisle 1414a cooperates with the entrance rotary platform 1406 and is aligned with the first access compartment 314a. It is configured such that the first mobile robot 102 can vertically self-propel and move the first turnover box to its aligned position within the first access compartment 314a. The second workstation vertical aisle 1414b cooperates with the entrance rotary platform 1406 and is aligned with the second access compartment 314b. It is configured such that the second mobile robot 102 can vertically self-propel and move the second turnover box to its aligned position within the second access compartment. Multiple access compartments allow multiple turnover boxes to be accessed simultaneously.

[0077] In some embodiments, the entrance rotary platform 1406 is located at a first level in the vertical hierarchy 108. The mobile robot 102 can vertically descend one of the entrance vertical tower passages 1422 to the first level, which is vertically aligned with the entrance rotary platform 1406. In some embodiments, a first access compartment 314a and a second access compartment 314b can be located at a second level in the vertical hierarchy, which is vertically higher than the first level. The first mobile robot can self-propel itself vertically through the first workstation vertical passage 1414a to transition from the first level to the second level, thereby aligning the first turnover box with the first access compartment 314a, and the second mobile robot can self-propel itself vertically through the second workstation vertical passage 1414b to transition from the first level to the second level, thereby aligning the second turnover box with the second access compartment 314b. In some embodiments, workstation 1906 may further include an exit rotating platform 1407 positioned adjacent to the first access compartment 314a and the second access compartment 314b, and the exit rotating platform cooperates with one or more exit vertical tower passages 1426. The exit rotating platform 1407 may include a planar surface on which a mobile robot 102 can rotate. The mobile robot may rotate on the exit rotating platform 1407 to orient the respective mobile robot relative to the exit vertical tower passage 1426 (e.g., rotate 90 degrees). The direction of rotation may depend on one or more factors, such as, but not limited to, the expected direction of travel, the expected direction of travel after climbing the exit vertical tower passage 1426, the weight within the tow box, the proximity of one or more other mobile robots, other such factors, or combinations of such factors. In other embodiments, the robot rotates in the same direction (e.g., counterclockwise) on the exit rotating platform 1407 upon exit. The first access compartment 314a may be laterally spaced from one or more other access compartments (e.g., the second access compartment 314b). One or more shelves and / or counters 1908 may be defined between two or more access compartments 314a-314b. One or more shelves 1908 may be used, for example, by workers or picking machines to temporarily store items retrieved from one of the tote boxes. In some embodiments, one or more bags, boxes, sub-tote boxes, other such containers, or combinations of two or more such containers may be positioned on or within the shelf 1908 area. When consolidating items in fulfilling one or more orders, items retrieved by workers and / or picking robots from one or more approaching product tote boxes via multiple access compartments 314a-314b may be placed into bags or (multiple) other containers positioned at the shelf 1908. In some embodiments, one or more bags and / or other containers may be placed into an order tote box, which in some instances may be in one of multiple access compartments, a shopping cart, or other such device.In other embodiments, access compartments 314a-314b may be directly adjacent, with a minimum or no gap between two or more access compartments.

[0078] In some embodiments, when consolidated orders (or partially consolidated orders) are stored on the order fulfillment system 100, one or more bags and / or other containers may be placed into one of the tote bags presented (e.g., presented in one of the access compartments, presented at a separate station, placed in a shopping cart, etc.). In some embodiments, such as when orders will be immediately assigned or stored outside the order fulfillment system, two or more access compartments 314a-314b may be used to present product tote bags, thereby nearly doubling picking throughput by significantly reducing the time when no product tote bags are available for picking.

[0079] In some embodiments, the multi-access compartment workstation 1906 is configured to route product totes to a first access compartment 314a while simultaneously routing order totes to a second access compartment 314b. This allows products to be retrieved from product totes (e.g., by human workers, by item-picking robots, etc.) and consolidated into order totes as items are collected into one or more order totes during order fulfillment. In such operations, product totes typically move through the first access compartment 314a at a faster pace than order totes pass through the second access compartment 314b, as multiple totes are typically approached to retrieve different items from different totes to fulfill orders. In some embodiments, retrieving items from product totes may include removing sub-totes from product totes and placing the sub-totes into order totes. In other instances, items may be retrieved from product totes and placed into one of multiple sub-segments or sub-totes within an order tote. One or more user interface systems (e.g., user display 1302, touch screen, one or more user input interfaces (e.g., keyboard, mouse, touchpad, button, other such input interfaces, or combinations of two or more such input interfaces), camera, sensor, lighting system and / or laser pointer system, audio system, other such user interface systems, or combinations of such systems) may be included in the multi-access compartment workstation 1906, which may, for example, provide guidance to workers when retrieving items from and / or inserting items into one or more turnover boxes accessible through access compartments 314a-314b, enabling one or more users at the workstation to input information and / or activate one or more actions, other such interactions, or combinations of two or more such interactions.

[0080] Figure 21The illustration shows a simplified flowchart of an exemplary process 2100 for obtaining items from storage structure 104 according to some embodiments. In some embodiments, process 2100 can be used to consolidate items to fulfill one or more orders at one or more retail facilities, such as, but not limited to, fulfillment centers, micro-fulfillment centers, retail stores, distribution centers, parts facilities of manufacturing facilities, and other such fulfillment facilities. In step 2102, the mobile robot 102 is routed within the storage structure 104 via multiple vertical tower passages that establish vertical paths between multiple layers, between multiple vertically spaced layers 108, and along multiple aisles 204 extending through the storage structure 104, to retrieve and transport turnover boxes 302, each turnover box 302 configured to carry one or more products. Each of the multiple aisles 204 includes a track extending along the length of each of the multiple aisles, and the mobile robot 102 travels along the track as it retrieves turnover boxes 302 from and places them into different storage locations 202, which are located at each of the multiple layers and along both sides of each of the multiple aisles. In some embodiments, each storage location has a predetermined width and depth corresponding to the size of the turnover box 302 and is configured to store turnover boxes delivered and retrieved by the mobile robot 102. In some embodiments, routing is transmitted by a central control circuit 110, which can be executed autonomously by a mobile robot (e.g., providing location identifiers corresponding to three-dimensional locations within the facility, and the mobile robot using map data to determine routes according to predefined routing rules).

[0081] In step 2104, the first group of mobile robots 102 may be routed to the dynamic workstation 106 via an entrance vertical tower passage 304 within the storage structure 104 that cooperates with the workstation 106. In some embodiments, the entrance vertical tower passage 304 is positioned on a first side 306 of the workstation. In step 2106, each of the first group of mobile robots vertically self-advances into the workstation 106 along the entrance vertical tower passage 304 and aligns with a first transport path 502 that extends generally laterally through the workstation, along which the mobile robot travels. During vertical advancement along the entrance vertical tower passage, the mobile robot may descend along the entrance vertical tower passage and align vertically with the transport path, which in some embodiments is at a single first level in a vertical hierarchy and extends through the workstation 106. In addition, in some embodiments, the workstation 106 is embedded within the storage structure 104, occupying an area with a length equal to a predetermined number of storage locations 202, wherein the first transport path enables the mobile robot to enter the workstation at a first side 306 and exit the workstation at a second side 310.

[0082] In step 2108, the mobile robot 102 self-propels along the transport path of the workstation. In some embodiments, the mobile robot self-propels along a first transport path, which is a horizontal path extending within the workstation from the entrance vertical tower passage 304 and the exit vertical tower passage 308. Furthermore, in some embodiments, the mobile robot traverses the first transport path laterally along a single first level, transporting a corresponding one of the turnover boxes 302 through the workstation 106, thereby exposing the corresponding one of the turnover boxes at the access compartment 314, continuing to self-propel laterally along the first level to enter the exit vertical tower passage 308, and then vertically ascends along the exit vertical tower passage 308 away from the workstation 106.

[0083] In step 2110, the mobile robot aligns with the access compartment 314 of the workstation positioned relative to the transport path, and at least one tote 302 transported by the first mobile robot 102 of the first group of mobile robots is exposed through the access compartment 314, while the tote 302 remains on the first mobile robot 102 and is not removed from the first mobile robot as the tote moves past the workstation 106. In some embodiments, the mobile robot laterally self-propels from the entrance track 1420 to the entrance rotating platform 1406, which includes a planar surface positioned along the transport path, rotates while on the entrance rotating platform, and aligns the corresponding tote 302 to the orientation of the access compartment 314. In some embodiments, multiple mobile robots 102 simultaneously self-propel along the first transport path to align with the access compartment and simultaneously expose at least two tote boxes through the access compartment, each transported by a corresponding mobile robot of the first group of mobile robots, while each of the at least two tote boxes remains on the corresponding mobile robot that transported the corresponding tote box through the workstation. In some embodiments, simultaneous transport may include a self-propelled mobile robot traveling sequentially along a first transport path along the access compartment, thereby providing a continuous flow of turnover boxes 302 through the access compartment. In some embodiments, the mobile robot 102 advancing along the first transport path may access an entrance security door 1003 positioned between entrance vertical tower passages 304, may continue through workstation 106, and may access an exit security door 1002 positioned between access compartment 314 and exit vertical tower passage 308. Access to the entrance and / or exit security doors may include the mobile robot moving the entrance and / or exit security doors in the process of opening them.

[0084] In some embodiments, the robot engages the workstation vertical passage 1414 and propels itself vertically through the workstation vertical passage 1414 to align the corresponding turnover box 302 with the access compartment 314, and moves the corresponding turnover box vertically to the aligned position within the access compartment. In some embodiments, the access compartment 314 is located at a second level above the level of the entrance track 1420 and / or the entrance rotating platform 1406. Accordingly, the mobile robot can descend along the entrance vertical tower passage 1422 to a first level vertically aligned with the entrance rotating platform, move into the workstation, and propel itself vertically through the workstation vertical passage 1414 to transition from the first level to the second level, thereby aligning the corresponding turnover box with the access compartment at the second level, which is vertically higher than the first level.

[0085] In step 2112, the first mobile robot 102 continues to self-propel along the first transport path 502 to leave workstation 106 and vertically self-propels via an exit vertical tower passage 308 positioned on the second side 310 of workstation 106, thereby establishing the first transport path 502, which generally traverses the workstation 106 laterally, along which the group of mobile robots travels. In some embodiments, the mobile robot may self-propel along the transport path as it leaves the access compartment, moving away from the access compartment to an exit rotary platform 1407 positioned along the transport path in an adjacent access compartment. The mobile robot may rotate while positioned on the exit rotary platform to orient the respective mobile robot relative to the exit vertical tower passage 1426. In some embodiments, the exit rotary platform may be vertically positioned above the entrance rotary platform 1406.

[0086] Figure 22 The illustration shows a simplified flowchart of an exemplary process 2200 for moving a mobile robot 102 along a lateral transport path through a workstation, according to some embodiments. In some embodiments, the mobile robot 102 controls its movement based on sensor signals received from one or more sensors of one or more mobile robots and / or sensors external to the mobile robot (e.g., sensors of workstation 106, sensors of storage structure 104, etc.). In step 2202, movement is detected by one or more sensors of the preceding mobile robot in the group of mobile robots routed to the workstation. In step 2204, the sensor signals of movement are provided to the robot control circuitry. In step 2206, the robot control circuitry confirms that the preceding mobile robot has moved a threshold amount. In step 2208, in response to confirming the threshold movement, the robot control circuitry controls the movement of the mobile robot to mimic the movement of the preceding mobile robot as it travels through the workstation, thereby maintaining a continuous flow of turnover boxes through access compartment 314.

[0087] Figure 23 The illustration is a simplified flowchart of an exemplary process 2300, according to some embodiments, of routing an additional mobile robot 102 via one or more other transport paths through workstation 106. In step 2302, one or more additional mobile robots (e.g., a second mobile robot) may be guided to a second transport path through workstation 106. In some instances, a central control circuit 110 or other routing system may transmit routing instructions and / or workstation identifiers, and the routed second mobile robot may autonomously route to retrieve an associated tote box and move through storage structure 104 to the intended workstation via the second transport path. In some embodiments, the second transport path may be vertically positioned at a different level (e.g., below or above) from a first level of the first transport path. In some embodiments, the second transport path may extend from entrance vertical tower passage 304, through workstation 106, and to exit vertical tower passage 308. Furthermore, in some embodiments, the second transport path is not accessible from access compartment 314. In step 2304, the second mobile robot 102 self-propels through the storage structure 104 to approach and vertically move along the entrance vertical tower passage 304 to the second level and the second transport path. In step 2306, the second mobile robot self-propels into the workstation 106 and aligns with the first access drawer 802, which in some embodiments is vertically aligned with the second transport path. Some embodiments include an optional step 2308 in which a second turnover box is removed from the second mobile robot and inserted into the access drawer (e.g., pushed laterally by the mobile robot, similar to returning the turnover box to storage position 202 of the storage structure). In other embodiments, the second mobile robot may move itself into the first access drawer while the second turnover box is held on the second mobile robot. In step 2310, the workstation control circuitry may activate the first access drawer 802 and expose at least the second turnover box 302 in the turnover box transported by the second mobile robot, the first access drawer 802 being separated from the access compartment 314.

[0088] Figure 24The illustration shows a simplified flowchart of an exemplary process 2400 for routing turnover boxes to workstations 106 within storage structure 104 according to some embodiments. In step 2402, a mobile robot 102 within the storage structure is routed to transport turnover boxes 302 carrying at least one product between multiple vertically spaced levels 108 via multiple vertical tower passages that establish vertical paths between multiple levels and along multiple aisles 204 extending through the storage structure 104. The aisles may include tracks extending some or all of the length of each of the multiple aisles, and the mobile robot 102 travels along the tracks as it retrieves turnover boxes from different storage locations 202 located at each of the multiple levels and along both sides of each of the multiple aisles and places the turnover boxes into the different storage locations 202. At least some of the storage locations 202 have a predetermined width and depth corresponding to the size of the turnover boxes and are configured to store turnover boxes delivered and retrieved by the mobile robot. In step 2404, the first mobile robot 102 of the mobile robots is guided to self-propel to the dynamic workstation 106 and self-propel along a lateral transport path extending laterally through the workstation 106, which is within the storage structure and approaches from an entrance vertical tower passage 304 of a plurality of vertical tower passages located within the storage structure and on a first side 306 of the workstation 106.

[0089] In step 2406, the first mobile robot is guided to self-propel along a lateral transport path so that the first turnover box 302 transported by the first mobile robot is aligned with the first access compartment 314a of workstation 107, which exposes the first turnover box transported by the first mobile robot, while the first turnover box remains on the first mobile robot as it moves past the workstation. In step 2408, the second mobile robot 102 of the mobile robots is guided to workstation 106 and self-propelled along a lateral transport path so that the second turnover box transported by the second mobile robot is aligned with the second access compartment 314b of workstation 106, which exposes the second turnover box transported by the second mobile robot, while the second turnover box remains on the second mobile robot as it moves past the workstation, and the first turnover box is exposed through the first access compartment. In some embodiments, a first mobile robot laterally self-propels from the entrance track 1420 onto the entrance rotating platform 1406, which includes a planar surface positioned along the transport path, rotates while on the entrance rotating platform, and aligns a first turnover box with the orientation of a first access compartment 314a. Similarly, a second robot may laterally self-propel from the entrance track 1420 onto the entrance rotating platform 1406, rotates while on the entrance rotating platform, and aligns a second turnover box with the orientation of a second access compartment 314b.

[0090] Some embodiments include step 2410, in which a first mobile robot transports a first turnover box away from a first access compartment to an exit rotary platform 1407 located along a transport path adjacent to the first access compartment 314a, and rotates while on the exit rotary platform to orient the first mobile robot relative to the exit track 1430 and / or one of the multiple vertical tower channels 1426. Similarly, in some embodiments, a second robot self-propelles to transport a second turnover box away from a second access compartment 314b to an exit rotary platform 1407 located along a transport path adjacent to the second access compartment 314b, and rotates while on the exit rotary platform to orient the second mobile robot relative to the exit track 1430 and / or the exit vertical tower channel 1426.

[0091] Figures 25 to 27 The illustration shows a perspective front view of another exemplary workstation 106m or mobile robot receiving system according to some embodiments. Figure 28 The illustration shows a perspective rear view of an exemplary workstation 106n that collaborates with platform 1407 according to some embodiments. Figure 29 The illustration shows a simplified perspective front view of an exemplary multi-access cubicle workstation 106o according to some embodiments. Figure 30 The illustration shows a simplified perspective rear view of an exemplary multi-access compartment workstation 106p cooperating with a pair of platforms 1406, 1407 according to some embodiments. In some embodiments, workstations 106m-106p may resemble one or more of the workstations 106, 1906 described above. Generally, workstations 106m-106p are envisioned for retrieving items in fulfilling orders, incorporating items into turnover boxes 302 and / or sub-turnover boxes, transferring items between turnover boxes 302, transferring sub-turnover boxes between turnover boxes, dumping, restocking, other such actions, or combinations of two or more such actions. Furthermore, in some embodiments, workstations 106m-106p may be used to isolate and / or remove mobile robot 102 for one or more reasons (e.g., damage, maintenance, identification information, other such reasons, or combinations of such reasons). However, it is also envisioned that workstations 106m-106p could be configured to provide additional capabilities, such as acting as picking, distributing, and / or dumping workstations, in which products and / or containers (such as tote boxes, sub-tote boxes, etc.) can be removed from or stored on the mobile robot. In this example, one or more of workstations 106m-106p could serve as a general-purpose workstation with a variety of potential uses. Generally, it is envisioned that workstations 106m-106p could utilize one or more components of the workstations previously described, unless inconsistent with this description.

[0092] In some embodiments, one or more of workstations 106m-106p include one or more gates, doors, panels, other such structures, or combinations of two or more such structures. The gates(s) may be in the form of pivotable / hinged cover portions (or clamshell structures). In some embodiments, the gates(s) may be able to be in a first or open position (e.g., see...). Figure 26 , Figure 27 ) and the second or closed position (for example, see Figure 25 and Figure 28 The gates pivot about axis / hinge 2512. In some embodiments, one or more gates may be able to pivot about one or more pivot axes. In some forms, the gates(s) may be spring-loaded, biased, and / or counterweight balanced to facilitate movement between open and closed positions. It is also envisioned that the gates(s) may be latched or locked into position, such as manually or by means of control circuitry, after pivoting to the open or closed position.

[0093] In some embodiments, workstation 106m-106p may include a first gate 2504 located at a robot exit 2518 of workstation 106m-106p. The first gate 2504 may be accessible to a mobile robot 102 leaving the workstation to move along a pathway or platform (e.g., one or more of platforms 1406, 1407). In some embodiments, the first gate 2504 may be at least in a closed position (e.g., see...). Figure 25 and Figure 28 ) and opening location (for example, see Figure 26 , Figure 27 The gate 2504 moves between positions such that when it is in the closed position (e.g., see [reference]). Figure 25 When the first gate 2504 is in the open position (e.g., see...), the mobile robot 102 can move out of (or into) the workstation via the robot exit 2518, and when the first gate 2504 is in the open position (e.g., see...). Figure 26 When the mobile robot 102 is blocked, it moves away from (or into) the workstation via robot exit 2518.

[0094] In some embodiments, one or more of workstations 106m-106p may further include a second gate 2510, which is capable of being in a closed position (e.g., see...). Figures 25 to 26 ) and opening location (for example, see Figure 27The second gate 2510 moves between a closed position and an open position. When in the open position, the second gate 2510 provides an access opening or exit 2511 for the workstation. The second gate 2510 is movable between a closed position and an open position, such that when in the closed position, the mobile robot 102 can move into or out of the workstation via the access exit 2511, and when in the open position, the mobile robot 102 cannot move into or out of the workstation via the access exit 2511.

[0095] Figures 25 to 28 Exemplary workstations in three different states are shown. Figure 25 and Figure 28 This illustrates the first state in which the mobile robot 102 can move out of the workstation and through robot exit 2518. Figure 25 and Figure 28 In this configuration, the first gate 2504 is in a first or closed position, and the second gate 2510 is in a closed position. In this orientation, the mobile robot 102 can leave the workstation 106 through the robot exit 2518. Furthermore, in the first state where the first gate 2504 is closed, access to the access compartment volume of the workstation is blocked, preventing users, picking robots, etc., from inserting or removing items from the turnover box 302 when the mobile robot 102 is carrying the turnover box 302 within the workstation. In some embodiments, in this first state, the first gate 2504 acts as a cover to prevent users from approaching the access compartment. When the entrance to the workstation is located at a different level than the robot exit 2518 (e.g., at a lower level), some embodiments allow a robot to enter the workstation at the lower level while the first gate is in a closed or open position (and another robot does not occupy the lower level), thereby allowing one or more robots to queue (e.g., in preparation for the departure of a robot currently at the access compartment).

[0096] Figure 26 An exemplary workstation 106m in a second state is shown. As can be seen, in this second state, a first gate 2504, which may be in the form of a first cover portion, has been pivoted about axis 2512 to an open position to block robot exit 2518 and constrain mobile robot 102 within the workstation. This second state also prevents other mobile robots 102 from entering workstation 106m through robot exit, at least at the level of the first gate. Furthermore, in Figure 26In this configuration, the first gate 2504 is in the open position, while the second gate 2510 is in the corresponding closed position. When the first gate 2504 is in the open position, it provides user access to the workstation's volume, allowing the user to insert items into and remove items from a turnover box or other container carried by the mobile robot 102 within the workstation (or to insert into and remove the container itself). In other words, the first gate 2504, which may include a first cover portion, is configured to selectively allow and block access to the turnover box carried by the mobile robot 102 when the mobile robot 102 is in the workstation.

[0097] With the second gate 2510 still in the closed position, it is envisioned that a wall / barrier 2514 may exist between the mobile robot 102 in the workstation and the user. As can be seen, in some embodiments, the wall / barrier 2514 may generally surround the mobile robot 102 on three sides (and the first gate 2504 blocks the entrance on the fourth side when in the open position). This barrier 2514 provides safety and protection to the user at least partially in this second state. Additional mobile robot features may be used to ensure user safety, such as, for example, requiring a pinion to extend and engage with a structure of the workstation. In some embodiments, the workstation may function as a workstation in which items or containers (or turnover boxes) are transferred to or from the mobile robot 102 occupying the workstation. For example, the user may perform operations such as picking or distributing individual items from a container or dumping items into a container or bagging containers therein.

[0098] Figure 27 An exemplary workstation 106m in a third state is shown. As can be seen, in this third state, a second gate 2510, which may be in the form of a second cover portion, has pivoted about a rotation axis 2512 (or a different rotation axis), thereby allowing a user to access the interior of the workstation and / or the mobile robot 102 (e.g., to remove the mobile robot 102 from the workstation, insert the robot into the workstation, perform maintenance on the workstation, perform maintenance on the robot, etc.). In some embodiments, the first gate 2504 and / or the second gate 2510 may be able to pivot about the same axis 2512. Alternatively, in other embodiments, the first gate 2504 and the second gate 2510 may be configured to be able to pivot about different axes (instead of the same axis).

[0099] exist Figure 27In this configuration, the first gate 2504 is in the second position, while the second gate 2510 is now in the open position. When the second gate 2510 is in this open position, in some embodiments, a user may be able to remove the mobile robot 102 and / or the tote via the front exit 2511. In other words, the second gate 2510, which may include a second cover portion, may be configured to selectively expose and block the front exit 2511 of the workstation. In some embodiments, it may be desirable to deactivate the mobile robot 102 before allowing the workstation to transition to this third state (i.e., before pivoting the second gate 2510 from the closed position to the open position). For example, one or more sensors, detectors, processors, control circuitry, programmable logic controllers (PLCs), other such components, or combinations of two or more of such components of the robot and / or workstation may be used to detect and / or prevent the pivoting of the second gate 2510 until the mobile robot 102 has been deactivated. Generally, some embodiments may provide one or more interlocking safety devices that control approach for performing certain actions, such as removing the mobile robot 102. Furthermore, it is desirable to provide authorized technicians with the authority to remove the mobile robot 102. Alternatively, it should also be understood that when workstation 106 is in this third state, the mobile robot 102 may be imported (or introduced) into the workstation and storage structure 104 via the front exit 2511.

[0100] In some embodiments, such as Figures 25 to 30 As shown, the first gate 2504 and the second gate 2510 may include a first cover portion and a second cover portion, such that one is nested within the other (forming a double clamshell). In some nesting configurations, for example, the second gate 2510 is immovable unless the first gate 2504 has been pivoted from the closed position to the open position. Alternatively, in other embodiments, the first gate 2504 and the second gate 2510 may be configured such that they can move independently of each other. Furthermore, in some embodiments, it is envisioned that the gates 2504, 2510 can be manually moved and / or may involve the use of one or more sensors and / or one or more control circuits.

[0101] Figure 28 An exemplary workstation 106n is shown in a first state in which the robot exit 2518 is open. The workstation 106n may include a bridge or arch 2505 defining the robot exit 2518. In some embodiments, the arch 2505 may pivot as part of a first gate 2504, or the first gate 2504 may pivot about it. Figure 29A multi-access compartment workstation 106o is shown, which has a first access compartment workstation 106u in a first state and a second access compartment workstation 106v in a third state. In the first state, the first gate and the second gate are in the closed position, and in the third state, the first gate and the second gate are in the open position. Figure 30 An exemplary multi-access cubicle workstation 106p is shown, wherein a first access cubicle workstation 106w in a first state is adjacent to another access cubicle workstation 106x in a second state, wherein a first gate 2504 is in the open position and a second gate 2510 is in the closed position. In some embodiments, a mobile robot enters access cubicle workstations 106w-106x by traveling on an entrance rotary platform 1406 and entering the access cubicle workstations through a robot entrance 3002 vertically aligned with the entrance rotary platform 1406. When the access cubicle is empty (e.g., the previous robot has left), the robot may vertically self-propel from the entrance level to align with the access cubicle. When the robot is no longer needed, it may exit through a robot exit 2518 with the first gate 2504 and the second gate 2510 respectively in the closed position. Alternatively, in some embodiments, opening the first gate may block both robot exit 2518 and robot entrance 3002 (e.g., by a secondary lower sub-gate (not shown) that moves in cooperation with the first gate 2504).

[0102] In some embodiments, workstations 106m-106p may be positioned at or near the edge of one or more platforms (e.g., inlet rotary platform 1406 and / or outlet rotary platform 1407) (or transport area / plane). In some forms, the workstation may be positioned toward the end of a platform, or the platform may extend further to accommodate the workstation. For example, the extended area 2517 may be adjacent to and / or extend from one or more platforms, and may consist of one or more panels. Some embodiments include horizontal guide rails in the workstation for efficient transitions when entering and exiting the workstation via platforms 1406, 1407.

[0103] Furthermore, the circuits, circuit systems, systems, devices, processes, methods, techniques, functions, services, servers, sources, etc., described herein can be utilized, implemented, and / or operated on many different types of devices and / or systems. Figure 31 The illustrated exemplary system 3100 can be used to implement any of the following: an order fulfillment system, control circuitry 110, mobile robot 102, workstation 106, and / or other components, circuits, circuit systems, systems, functions, devices, processes, or devices of the systems or apparatus mentioned above or below. However, the use of system 3100 or any part thereof is not required.

[0104] By way of example, system 3100 may include one or more control circuitry or processor modules 3112, one or more memories 3114, and one or more communication links, paths, buses, etc. 3118. Some embodiments may include one or more user interfaces 3116 and / or one or more internal and / or external power sources or supply devices 3140. Control circuitry 3112 may be implemented by one or more processors, microprocessors, central processing units, logic, local digital storage, 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, functions, and techniques described herein, and to control various communications, decisions, programs, content, lists, services, interfaces, logging, reporting, etc. Furthermore, in some embodiments, control circuitry 3112 may be part of a control circuitry system and / or control system 3110, which may be implemented by one or more processors capable of accessing one or more memories 3114, which may store instructions, code, etc., implemented by the control circuitry and / or processor to perform the intended functions. In some applications, control circuitry and / or memory may be distributed across a communication network (e.g., LAN, WAN, Internet) that provides distributed and / or redundant processing and functionality. Similarly, system 3100 may be used to implement one or more, or portions of, the components, circuits, systems, processes, etc., described above or below.

[0105] User interface 3116 allows a user to interact with system 3100 and receive information through the system. In some instances, user interface 3116 includes display 3122 and / or one or more user input devices 3124, such as buttons, touchscreens, trackballs, keyboards, mice, etc., which may be part of or connected to system 3100 via wired or wireless means. Typically, system 3100 further includes one or more communication interfaces, ports, transceivers 3120, etc., which allow system 3100 to communicate via communication buses, distributed wired and / or computer and / or communication networks (e.g., local area networks (LANs), the Internet, wide area networks (WANs), etc.), communication links 3118, other networks or communication channels with other devices, and / or other such communications or combinations of two or more such communication methods. Furthermore, transceiver 3120 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 3134 that allow one or more devices to be connected to system 3100. The I / O ports can be substantially any associated port or combination of ports, such as, but not limited to, USB, Ethernet, or other such ports. The I / O interface 3134 can be configured to allow wired and / or wireless communication connections 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 may include any known wired and / or wireless interface devices, circuitry, and / or connection devices, such as, but not limited to, one or more transmitters, receivers, transceivers, or combinations of two or more such devices.

[0106] In some embodiments, the system may include one or more sensors 3126 to provide information to the system and / or transmit sensor information to another component (such as a central control system, delivery vehicle, etc.). Sensors may include virtually any relevant sensor, such as distance measurement sensors (e.g., optical units, sound / ultrasonic units, etc.), optical-based scanning sensors for sensing and reading optical patterns (e.g., barcodes), radio frequency identification (RFID) tag reader sensors capable of reading RFID tags near the sensor, accelerometers, GPS, motion sensors, and / or other such sensors. The foregoing examples are intended to be illustrative and are not intended to convey an exhaustive list of all possible sensors. Rather, it will be understood that these teachings will be adapted to any of the wide variety of situations requiring sensing in a given application environment.

[0107] System 3100 includes an example of a controller- and / or processor-based system with control circuitry 3112. Similarly, control circuitry 3112 can be implemented via one or more processors, controllers, central processing units, logic, software, etc. Furthermore, in some embodiments, control circuitry 3112 may provide multiprocessor functionality.

[0108] The memory 3114, accessible by the control circuitry 3112, typically includes one or more processor-readable and / or computer-readable media accessible by the control circuitry 3112, and may include volatile and / or non-volatile media such as RAM, ROM, EEPROM, flash memory, and / or other memory technologies. Furthermore, the memory 3114 is shown as being within the control system 3110; however, the memory 3114 may be internal, external, or a combination of internal and external memory. Similarly, some or all of the memory 3114 may be internal, external, or a combination of internal and external memory of the control circuitry 3112. External memory may be substantially any relevant memory, such as, but not limited to, one or more of solid-state storage devices or drives, hard disk drives, 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 3114 can store code, software, executable files, scripts, data, content, lists, programming, programs, logs or historical data, user information, customer information, product information, etc. Although Figure 31 The diagram shows various components connected together via a bus, but it is understood that these components can actually be directly connected to control circuitry and / or one or more other components.

[0109] In some embodiments, an apparatus and a corresponding method performed by the apparatus include: a mobile robot configured to transport a turnover box carrying products; a storage structure accessible by the mobile robot, wherein the storage structure includes: a plurality of vertically spaced levels; a plurality of vertical tower passages establishing vertical paths between the plurality of levels; a plurality of aisles extending through the storage structure, each aisle including a track extending along the length of each of the plurality of aisles, and the mobile robot traveling along the track; and storage locations positioned at each of the plurality of levels and along both sides of each of the plurality of aisles, wherein each storage location has a predetermined width and depth corresponding to the size of the turnover box, and The system is configured to store and retrieve turnover boxes delivered and retrieved by a mobile robot; and a dynamic workstation that cooperates with an entrance vertical tower passage located within the storage structure and on a first side of the workstation, and with an exit vertical tower passage located on a second side of the workstation, thereby establishing a first transverse transport path through the workstation along which the mobile robot travels; wherein the workstation includes a storage compartment located relative to the first transport path and exposing at least one turnover box transported by the first mobile robot, while at least one turnover box remains on the first mobile robot and is not removed from the first mobile robot as it moves through the workstation.

[0110] Some embodiments provide a method for order fulfillment, the method comprising: routing a mobile robot within a storage structure via a plurality of vertically spaced tower passages establishing vertical paths between a plurality of floors and along a plurality of aisles extending through the storage structure to retrieve and transport a turnover box carrying at least one product, each aisle including a track extending along the length of each of the plurality of aisles, and the mobile robot traveling along the track as it retrieves the turnover box from and places it into different storage locations, the different storage locations being located at each of the plurality of floors and along both sides of each of the plurality of aisles, wherein each storage location has a predetermined width and depth corresponding to the size of the turnover box and is configured to store turnover boxes delivered and retrieved by the mobile robot; and routing a first group of mobile robots within the storage structure and on a first side of a workstation. An entrance vertical tower passage, in cooperation with the workstation, guides the robot to the dynamic workstation. Each of the first group of mobile robots: vertically self-propelles along the entrance vertical tower passage to the workstation and aligns with a first transport path extending laterally through the workstation, along which the mobile robot travels; self-propelles along the first transport path to align with an access compartment of the workstation, which is positioned relative to the first transport path and exposes at least one tote bag transported by the first mobile robot of the first group of mobile robots, while at least one tote bag remains on the first mobile robot and is not removed from the first mobile robot as the at least one tote bag moves through the workstation; and self-propelles along the first transport path to leave the workstation and vertically self-propelles via an exit vertical tower passage located on a second side of the workstation, thereby establishing a first transport path through the workstation along which the first group of mobile robots travels.

[0111] Furthermore, some embodiments provide an automated order fulfillment system comprising: a mobile robot configured to transport turnover boxes carrying products; a storage structure accessible by the mobile robot, wherein the storage structure includes: a plurality of vertically spaced levels; a plurality of vertical tower passages establishing vertical paths between the plurality of levels; a plurality of aisles extending through the storage structure, each aisle including a track extending along the length of each of the plurality of aisles, and the mobile robot being able to travel along the track; storage locations positioned at each of the plurality of levels and along both sides of each of the plurality of aisles, wherein each storage location has a predetermined width and depth corresponding to the size of the turnover box, and is configured to store turnover boxes delivered and retrieved by the mobile robot; and a mobile robot... A workstation is configured to cooperate with an entrance vertical tower channel located within a storage structure and on a first side of the workstation, and with an exit vertical tower channel located on a second side of the workstation. The workstation includes a first access compartment and a second access compartment. The first access compartment cooperates with the entrance vertical tower channel and is configured to expose a first turnover box transported by a first mobile robot, wherein the first turnover box remains on the first mobile robot and is not removed from it when it moves through the workstation. The second access compartment cooperates with the entrance vertical tower channel and is configured to expose a second turnover box transported by a second mobile robot, wherein the second turnover box remains on the second mobile robot and is not removed from it when it moves through the workstation.

[0112] In some embodiments, the order fulfillment method includes: routing a mobile robot within a storage structure via a plurality of vertically spaced tower passages establishing vertical paths between a plurality of floors and along a plurality of aisles extending through the storage structure to transport turnover boxes carrying at least one product, each aisle including a track extending along the length of each of the plurality of aisles, and the mobile robot traveling along the track while retrieving turnover boxes from and placing them into different storage locations, the different storage locations being located at each of the plurality of floors and along both sides of each of the plurality of aisles, wherein each storage location has a predetermined width and depth corresponding to the size of the turnover box and is configured to store turnover boxes delivered and retrieved by the mobile robot; guiding a first mobile robot to self-propel itself to a dynamic workstation and self-propel itself along a lateral transport path extending laterally through the workstation, the dynamic workstation being... Approaching a vertical tower passage within the storage structure and from an entrance vertical tower passage of a plurality of vertical tower passages located on a first side of the workstation, including self-propelling along a lateral transport path to align a first turnover box transported by a first mobile robot with a first access compartment of the workstation, the first access compartment exposing the first turnover box transported by the first mobile robot, while the first turnover box remains on the first mobile robot as it moves through the workstation; and guiding a second mobile robot to the workstation and self-propelling along a lateral transport path, including self-propelling along a lateral transport path to align a second turnover box transported by the second mobile robot with a second access compartment of the workstation, the second access compartment exposing the second turnover box transported by the second mobile robot, while the second turnover box remains on the second mobile robot as it moves through the workstation and through the second access compartment, while the first turnover box is exposed through the first access compartment.

[0113] This application is incorporated herein by reference in its entirety of each of the following U.S. patent publications: U.S. Publication No. 2014 / 0288696, published September 25, 2014, which has U.S. application No. 14 / 213187, filed March 14, 2014, entitled “Automated system for transporting payloads”; U.S. Publication No. 2017 / 0313514, published November 2, 2017, which has U.S. application No. 15 / 591956, filed May 10, 2017, entitled “Orderfulfillment system”; U.S. Publication No. 2019 / 0270591, published September 5, 2019, which has U.S. application No. 16 / 419910, filed May 22, 2019, entitled “Order fulfillment system”; and U.S. Publication No. 2018 / 2019 ... U.S. Patent Application No. 2018 / 0134492, filed November 17, 2017, entitled "Automated-service retail system and method," with serial number 15 / 816832; U.S. Patent Publication No. 2018 / 0194556, published July 12, 2018, filed January 10, 2018, entitled "Interchangeable automated mobile robots with a plurality of operating modes configuring a plurality of different robot task capabilities," with serial number 15 / 867373; U.S. Patent Publication No. 2018 / 0150793, published May 31, 2018, filed November 29, 2017, entitled "Automated retail supply chain and inventory management system," with serial number 15 / 826045; and U.S. Patent Publication No. 2018 / 0134492, published October 25, 2018.U.S. Patent Application No. 2018 / 0305123, filed April 18, 2018, entitled "Picking workstation with mobile robots & machine vision verification of each transfers performed by human operators," serial number 15 / 956346; U.S. Patent Publication No. 2018 / 0247257, published August 30, 2018, filed February 23, 2018, entitled "Inventory management system and method," serial number 15 / 903993; U.S. Patent Publication No. 2018 / 0341908, published November 29, 2018, filed May 23, 2018, entitled "Fully automated self-service store," serial number 15 / 987736; and U.S. Patent Publication No. 2019, published February 14, 2019. U.S. Patent Application No. 2019 / 0047787, filed August 8, 2018, entitled "Universal gripper for tote and sub-tote transport," with serial number 16 / 058065; U.S. Patent Publication No. 2020 / 071076, published March 5, 2020, filed August 28, 2019, entitled "Tote handling for chilled or frozen goods," with serial number 16 / 554512; U.S. Patent Publication No. 2020 / 0156871, published May 21, 2020, filed November 7, 2019, entitled "System having robotic workstation," with serial number 16 / 676732; and U.S. Patent Publication No. 2020, published July 16, 2020. 2020 / 0223630, which has a U.S. application filed on January 14, 2020, entitled "System having workstation with tote retention and release mechanism" with serial number 16 / 742119; U.S. Patent Publication No. 16 / 742119 published on September 30, 2021.2021 / 0300664 contains U.S. Application No. 16 / 831468, filed on March 26, 2020, entitled “Tote handling forchilledor frozen goods”; U.S. Provisional Application No. 63 / 013504, filed on April 21, 2020, entitled “Transport Rack Cartridge”; U.S. Provisional Application No. 63 / 067759, filed on August 19, 2021, entitled “High Density Micro Fulfillment Center 'HD-MFC' with Nightly G2P Storage Batch Pick Replenishment from Store Floor and Method of Operating Same”; and U.S. Provisional Application No. 2021 / 0300664, filed on December 18, 2020, entitled “Micro-Fulfillment Center with Automated Dispense and Return Using Mobile Robots and Method of Operating Same”. U.S. Provisional Application No. 63 / 127762, filed October 18, 2023, entitled "Automated Item Retrieval and Consolidation Systems and Methods".

[0114] Those skilled in the art will recognize that various other modifications, alterations, and combinations can be made with respect to the embodiments described above without departing from the scope of the invention, and such modifications, alterations, and combinations will be considered to be within the scope of the inventive concept.

Claims

1. An automated order fulfillment system, comprising: Mobile robots are constructed to transport and carry product containers. A storage structure accessible to the mobile robot, wherein the storage structure comprises: Multiple vertically separated floors; Multiple vertical tower passages that establish vertical paths between the multiple levels; Multiple aisles extend through the storage structure, each aisle including a track extending along the length of each of the multiple aisles, and the mobile robot travels along the track; Storage locations, positioned at each of the plurality of levels and along both sides of each of the plurality of aisles, wherein each storage location has a predetermined width and depth corresponding to the size of the turnover box, and is configured to store the turnover box delivered by and retrieved by the mobile robot; and A dynamic workstation, which cooperates with an entrance vertical tower channel located within the storage structure and on a first side of the workstation, and with an exit vertical tower channel located on a second side of the workstation, thereby establishing a first lateral transport path through the workstation, along which the mobile robot travels; The workstation includes an access compartment positioned relative to the first transport path and exposes at least one turnover box transported by the first mobile robot, wherein the at least one turnover box remains on the first mobile robot and is not removed from the first mobile robot when the at least one turnover box moves through the workstation.

2. The system according to claim 1, wherein, The first transport path includes a horizontal path extending within the workstation from the entrance vertical tower passage and the exit vertical tower passage.

3. The system according to claim 1, wherein, The access compartment is sized to simultaneously expose at least two turnover boxes, with each of the at least two turnover boxes held on a corresponding mobile robot of the mobile robot that transports the corresponding turnover box through the workstation.

4. The system according to claim 3, wherein, Multiple mobile robots are configured to be sequentially routed to the workstation and travel sequentially along the first transport path, thereby providing a continuous flow of turnover boxes transported by the multiple mobile robots through the access compartment.

5. The system according to claim 4, wherein, Each of the plurality of mobile robots includes a sensor and a robot control circuit connected to the sensor, wherein the robot control circuit receives sensor signals from the sensor to detect the movement of a preceding mobile robot along the first transport path, and controls the movement of the corresponding mobile robot to mimic the movement of the preceding mobile robot as it travels through the access compartment, thereby maintaining the continuous flow of turnover boxes through the access compartment.

6. The system according to claim 1, wherein, The first transport path is located at a single first level among the plurality of levels, wherein each of the mobile robots descends vertically along the entrance vertical tower passage to the single first level aligned with the first transport path, traverses the first transport path laterally along the single first level to transport a corresponding one of the turnover boxes through the workstation, exposes the corresponding one of the turnover boxes at the access compartment, continues laterally into the exit vertical tower passage, and ascends vertically along the exit vertical tower passage away from the workstation.

7. The system of claim 6, further comprising: A second transport path passes through the workstation, vertically positioned at a second level below the first level, and extends from the entrance vertical tower passage, through the workstation, and to the exit vertical tower passage, wherein the second transport path cannot be accessed from the access compartment; and At least a first access drawer, which is separated from the access compartment, wherein the first access drawer is located adjacent to and approached by at least one additional mobile robot among the mobile robots from the second transport path, and is configured to expose at least one additional turnover box among the turnover boxes transported by the at least one additional mobile robot.

8. The system according to claim 1, wherein, The workstation further includes: The first security door is located between the entrance vertical tower passageways; and The second security door is located between the access compartment and the exit vertical tower passage.

9. The system according to claim 8, wherein, The first security door is positioned along the first transport path to be contacted and opened by each of the mobile robots transporting the corresponding one of the turnover boxes toward the access compartment, and the second security door is positioned along the first transport path to be contacted and opened by each of the mobile robots transporting the corresponding one of the turnover boxes away from the access compartment.

10. The system of claim 1, further comprising: An entrance track extends from the entrance vertical tower passage; and The workstation further includes an entrance rotating platform that is connected to the entrance track as part of the first transport path. The entrance rotating platform includes a planar surface, and the mobile robot rotates on the planar surface to orient the corresponding turnover box to be consistent with the orientation of the access compartment.

11. The system according to claim 10, wherein, The workstation includes: The first workstation vertical passage forms part of the first transport path, wherein the first workstation vertical passage is vertically aligned with the access compartment and is configured such that the mobile robot can vertically self-propel and move the corresponding turnover box to the aligned position within the access compartment.

12. The system according to claim 11, wherein, The entrance rotating platform is located at the first of the plurality of levels, wherein each of the mobile robots descends vertically along the entrance vertical tower passage to the first level, which is vertically aligned with the entrance rotating platform; and The access compartment is located at the second level of the vertical hierarchy, which is higher than the first level in the vertical direction. The mobile robot moves vertically through the vertical passage of the first workstation and propels itself to transition from the first level to the second level, thereby aligning the corresponding turnover box with the access compartment.

13. The system according to claim 10, wherein, The workstation further includes: An exit rotating platform is positioned adjacent to the access compartment along the first transport path and cooperates with the exit vertical tower channel, and the mobile robot rotates on the exit rotating platform to orient the respective mobile robot relative to the exit vertical tower channel.

14. The system according to claim 13, wherein, The exit rotating platform is located at the second of the plurality of levels and is vertically above the inlet rotating platform.

15. The system according to claim 1, wherein, The workstation is embedded within the storage structure, occupying an area with a length equal to a predetermined number of storage locations, and wherein the first transport path enables the mobile robot to enter the workstation at the first side and exit the workstation at the second side.

16. The system according to claim 1, wherein, The workstation further includes a first gate that can move between a first position and a second position, wherein when the first gate is in the first position, the first mobile robot can move away from the workstation via a robot exit, and wherein when the first gate is in the second position, the first mobile robot is blocked from moving away from the workstation via the robot exit.

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

18. A method for fulfilling an order, comprising: A mobile robot is routed within a storage structure via multiple vertical tower passages that establish vertical paths between multiple vertically spaced levels and along multiple aisles extending through the storage structure to retrieve and transport turnover boxes carrying at least one product. Each aisle includes a track extending along the length of each of the multiple aisles, and the mobile robot travels along the track as it retrieves the turnover box from and places it into the different storage locations, which are located at each of the multiple levels and along both sides of each of the multiple aisles. Each storage location has a predetermined width and depth corresponding to the size of the turnover box and is configured to store the turnover box delivered and retrieved by the mobile robot. The first group of mobile robots is guided to the dynamic workstation via an entrance vertical tower passage within the storage structure and cooperating with the workstation on the first side of the workstation. Each of the first group of mobile robots: The mobile robot propels itself vertically into the workstation along the entrance vertical tower passage and aligns with a first transport path that extends laterally through the workstation, along which it travels. The system self-propelles along the first transport path to align with the access compartment of the workstation, the access compartment being positioned relative to the first transport path and exposing at least one tote bag transported by the first mobile robot in the first group of mobile robots, while the at least one tote bag remains on the first mobile robot and is not removed from the first mobile robot as the at least one tote bag moves past the workstation; and The first group of mobile robots self-propulsively propels itself along the first transport path to leave the workstation and vertically self-propulsively propels itself through the exit vertical tower passage located on the second side of the workstation, thereby establishing the first transport path through the workstation, along which the first group of mobile robots travels.

19. The method according to claim 18, wherein, Self-propulsion along the first transport path includes self-propulsion along the first transport path, which is a horizontal path extending within the workstation from the entrance vertical tower passage and the exit vertical tower passage.

20. The method according to claim 18, wherein, Self-propelling along the first transport path to align with the access compartment includes: self-propelling along the access compartment while exposing at least two turnover boxes, each turnover box being transported by a corresponding mobile robot in the first group of mobile robots, while each of the at least two turnover boxes is held on the corresponding mobile robot that transports the corresponding turnover box through the workstation.

21. The method according to claim 20, wherein, Self-propulsion along the access compartment includes the first group of mobile robots moving sequentially along the first transport path, thereby providing a continuous flow of turnover boxes through the access compartment.

22. The method of claim 21, further comprising: Receive sensor signals from the sensors of the first mobile robot in the group of mobile robots; Detect the movement of the preceding mobile robot in the group of mobile robots along the first delivery path; as well as The movement of the first mobile robot is controlled to mimic the movement of the preceding mobile robot as it travels through the access compartment, thereby maintaining the continuous flow of turnover boxes through the access compartment.

23. The method according to claim 18, wherein, Vertical self-propulsion along the entrance vertical tower passage includes descending along the entrance vertical tower passage and vertically aligning with the first transport path at a single first level of the plurality of levels extending through the workstation; Wherein, self-propelled along the first transport path includes traversing the first transport path laterally along the single first level, transporting a corresponding one of the turnover boxes through the workstation, and exposing the corresponding one of the turnover boxes at the access compartment; The self-propelling along the first transport path to leave the workstation includes lateral self-propelling along the first level to enter the exit vertical tower passage; and It rises vertically along the exit vertical tower passage, away from the workstation.

24. The method of claim 23, further comprising: The second mobile robot is guided to a second transport path through the workstation, wherein the second transport path is vertically positioned at a second level below the first level and extends from the entrance vertical tower passage, through the workstation, and to the exit vertical tower passage, wherein the second transport path cannot be accessed from the access compartment; and The first access drawer of the workstation is activated. The first access drawer is separated from the access compartment and vertically aligned with the second transport path, exposing at least a second turnover box in the turnover box transported by the second mobile robot.

25. The method of claim 18, wherein, The self-propelled movement along the first transport path to align with the access compartment includes each of the first group of mobile robots advancing and contacting a first security door positioned between the entrance vertical tower passage, continuing through the workstation and contacting a second security door positioned between the access compartment and the exit vertical tower passage.

26. The method according to claim 18, wherein, The self-propelled movement along the first transport path to align with the access compartment includes each of the first group of mobile robots contacting and moving a first security door positioned along the first transport path, thereby opening the first security door upon approaching the access compartment; and Self-propelling along the first transport path to leave the workstation includes each of the first group of mobile robots contacting and moving a second security door positioned along the first transport path, and opening the second security door while moving away from the access compartment.

27. The method according to claim 18, wherein, Self-propulsion along the first transport path includes laterally advancing from the entrance track to the entrance rotating platform, the entrance rotating platform including a planar surface positioned along the first transport path, rotating while located on the entrance rotating platform, and oriented the corresponding turnover box to align with the orientation of the access compartment.

28. The method of claim 27, wherein, Self-propelling along the first transport path includes engaging and vertically self-propelling through the workstation's vertical passageway, aligning the corresponding turnover box with the access compartment, and vertically moving the corresponding turnover box to its aligned position within the access compartment.

29. The method according to claim 28, wherein, Vertical self-propulsion along the entrance vertical tower passage includes vertically descending along the entrance vertical tower passage to a first level vertically aligned with the entrance rotating platform; and The vertical self-propelled passage through the workstation vertical aisle includes a storage compartment that rises vertically to a second level in the vertical hierarchy, the second level being higher in the vertical direction than the first level, to transition from the first level to the second level, thereby aligning the corresponding turnover box with the storage compartment.

30. The method according to claim 27, wherein, Self-propulsion along the first transport path includes moving away from the access compartment to an exit rotating platform located adjacent to the access compartment along the first transport path, and rotating while on the exit rotating platform to orient the corresponding mobile robot relative to the exit vertical tower passage.

31. The method according to claim 30, wherein, The exit rotating platform is located at the second level in the vertical layer and is above the entrance rotating platform in the vertical direction.

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

33. An automated order fulfillment system, comprising: Mobile robots are constructed to transport and carry product containers. A storage structure accessible to the mobile robot, wherein the storage structure comprises: Multiple vertically separated floors; Multiple vertical tower passages that establish vertical paths between the multiple levels; Multiple aisles extend through the storage structure, each aisle including a track extending along the length of each of the multiple aisles, and the mobile robot can travel along the track; Storage locations, positioned at each of the plurality of levels and along both sides of each of the plurality of aisles, wherein each storage location has a predetermined width and depth corresponding to the size of the turnover box, and is configured to store the turnover box delivered by and retrieved by the mobile robot; and A dynamic workstation that cooperates with an entrance vertical tower channel located within the storage structure and on a first side of the workstation, and with an exit vertical tower channel located on a second side of the workstation; The workstation includes a first access compartment and a second access compartment. The first access compartment cooperates with the entrance vertical tower passage and is configured to expose a first turnover box transported by a first mobile robot. When the first turnover box moves through the workstation, it remains on the first mobile robot and is not removed from it. The second access compartment cooperates with the entrance vertical tower passage and is configured to expose a second turnover box transported by a second mobile robot. When the second turnover box moves through the workstation, it remains on the second mobile robot and is not removed from it.

34. The system according to claim 33, wherein, The first access compartment is located near the second access compartment, wherein the first turnover box can be accessed through the first access compartment, while the second turnover box can be accessed through the second access compartment.

35. The system according to claim 34, wherein, The first turnover box includes a product turnover box carrying items to be retrieved through the first access compartment, and the second turnover box includes an order turnover box configured to receive the items retrieved from the product turnover box when items are consolidated in fulfilling an order.

36. The system of claim 34, further comprising: An entrance track extends from the entrance vertical tower passage; The workstation further includes an entrance rotating platform connected to the entrance track, wherein the entrance rotating platform includes a planar surface, and the mobile robot rotates on the planar surface to orient the corresponding turnover box to be aligned with the orientation of one of the first access compartment and the second access compartment.

37. The system according to claim 36, wherein, The workstation includes: The first workstation has a vertical passageway that cooperates with the entrance rotating platform and is aligned with the first access compartment, and is configured such that the first mobile robot can vertically self-propel and move the first turnover box to the aligned position within the first access compartment. The second workstation has a vertical passageway that cooperates with the entrance rotating platform and is aligned with the second access compartment, and is configured such that the second mobile robot can vertically self-propel and move the second turnover box to the aligned position within the second access compartment.

38. The system according to claim 37, wherein, The entrance rotating platform is located at the first level of the vertical stack, wherein each of the mobile robots descends vertically along the entrance vertical tower passage to the first level, which is vertically aligned with the entrance rotating platform; and The first and second access compartments are located at the second level of the vertical hierarchy, which is higher than the first level in the vertical direction. The first mobile robot moves vertically through the vertical passage of the first workstation and propels itself to transition from the first level to the second level, thereby aligning the first turnover box with the first access compartment. Similarly, the second mobile robot moves vertically through the vertical passage of the second workstation and propels itself to transition from the first level to the second level, thereby aligning the second turnover box with the second access compartment.

39. The system according to claim 36, wherein, The workstation further includes: An exit rotating platform is positioned adjacent to the first and second access compartments, and the exit rotating platform cooperates with the exit vertical tower channel, and the mobile robot rotates on the exit rotating platform to orient the respective mobile robot relative to the exit vertical tower channel.

40. A method for fulfilling an order, comprising: A mobile robot is routed within a storage structure via multiple vertical tower passages that establish vertical paths between multiple vertically spaced levels and along multiple aisles extending through the storage structure to transport a turnover box carrying at least one product. Each aisle includes a track extending along the length of each of the multiple aisles, and the mobile robot travels along the track as it retrieves the turnover box from and places it into the different storage locations, which are located at each of the multiple levels and along both sides of each of the multiple aisles. Each storage location has a predetermined width and depth corresponding to the size of the turnover box and is configured to store the turnover box delivered and retrieved by the mobile robot. The first mobile robot is guided to self-propel itself to a dynamic workstation and along a lateral transport path extending laterally through the workstation. The dynamic workstation is located within the storage structure and approaches from an entrance vertical tower passage among a plurality of vertical tower passages located within the storage structure and on a first side of the workstation. This includes self-propulsion along the lateral transport path to align a first turnover box transported by the first mobile robot with a first access compartment of the workstation, the first access compartment exposing the first turnover box transported by the first mobile robot, while the first turnover box remains on the first mobile robot as it moves through the workstation; and The second mobile robot is guided to the workstation and self-propelled along the lateral transport path, including self-propelling along the lateral transport path to align a second turnover box transported by the second mobile robot with a second access compartment of the workstation, the second access compartment exposing the second turnover box transported by the second mobile robot, while the second turnover box remains on the second mobile robot as it moves through the workstation and through the second access compartment, while the first turnover box is exposed through the first access compartment.

41. The method according to claim 40, wherein, The self-propelled first mobile robot along the lateral transport path includes laterally advancing from the entrance track to the entrance rotating platform, the entrance rotating platform including a planar surface positioned along the lateral transport path, rotating while located on the entrance rotating platform, and oriented the first turnover box to be aligned with the orientation of the first access compartment; and The second robot, which propels itself along the lateral transport path, includes advancing laterally from the entrance track to the entrance rotating platform, rotating while on the entrance rotating platform, and aligning the second turnover box with the orientation of the second access compartment.

42. The method according to claim 41, wherein, The self-propelled first mobile robot along the lateral transport path includes transporting the first tote away from the first access compartment to an exit rotary platform located adjacent to the first access compartment along the lateral transport path, and rotating while on the exit rotary platform to orient the first mobile robot relative to an exit vertical tower channel among the plurality of vertical tower channels; and The self-propelled second robot along the lateral transport path includes transporting the second turnover box away from the second access compartment to the exit rotating platform located adjacent to the second access compartment along the lateral transport path, and rotating while on the exit rotating platform to orient the second mobile robot relative to the exit vertical tower passage.

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