Automated systems and methods of controlling movement of items through order fulfillment facilities

Abstract

A retail fulfillment system, including: a storage structure; a plurality of mobile robots configured to move laterally along storage structure aisles and vertically through the storage structure to deposit and retrieve containers to and from the plurality of container storage locations; and a container input / output interface system including: a matrix of container access bays where the plurality of mobile robots are configured to deliver and retrieve the containers to and from the container access bays through a robot interface. Each of the container access bays includes an autonomous interlock system that is activated, separate from the plurality of mobile robots, in response to a presence of a container, of the containers, at the respective one of the container access bays to cause a barrier system to transition to an access state enabling access by an operator through the access face to the container.

Description

[0001] Aty. Docket No. 1127P017371 -WO (PCT)

[0002] AUTOMATED SYSTEMS AND METHODS OF CONTROLLING MOVEMENT OF ITEMS

[0003] THROUGH ORDER FULFILLMENT FACILITIES

[0004] CROSS-REFERENCE TO RELATED APPLICATIONS

[0005]

[0001] This application is a non-provisional of and claims the benefit of United States provisional patent application number 63 / 701,479 filed on September 30, 2024, the disclosure of which is incorporated here by reference in its entirety.

[0006] BACKGROUND

[0007] 1. Field

[0008]

[0002] This invention relates generally to controlling movement of items in order fulfillment system.

[0009] 2. Brief Description of Related Developments

[0010]

[0003] An order fulfillment system for use in supply chains, for example in retail supply chains, may fulfill orders for individual product units. These systems often have numerous different systems, and operators interacting with these systems to fulfill orders. An improved container processing system is needed to increase throughput within an order fulfillment system.

[0011] BRIEF DESCRIPTION OF DRAWINGS

[0012]

[0004] Disclosed herein are systems, apparatuses and methods pertaining to the control of systems of order fulfillment systems. The foregoing aspects and other features of the present disclosure are explained in the following description, taken in connection with the accompanying drawings,, wherein:

[0013]

[0005] Fig. 1 illustrates a simplified block diagram of an exemplary order fulfillment system, in accordance with the present disclosure; Aty. Docket No. 1127P017371-WO (PCT)

[0014]

[0006] Fig. 2 shows a simplified isometric view of at least a portion of an exemplary order fulfillment system, in accordance with the present disclosure;

[0015]

[0007] Fig. 3 shows a simplified isometric view of at least a portion of an exemplary order fulfillment system, in accordance with the present disclosure;

[0016]

[0008] Fig. 4 illustrates a perspective view of at least a portion of an exemplary container input / output (I / O) interface system, in accordance with the present disclosure;

[0017]

[0009] Fig. 5A illustrates a perspective view of at least a portion of an exemplary container I / O interface system, in accordance with the present disclosure;

[0018]

[0010] Fig. 5B illustrates a perspective view of an exemplary container I / O interface system, in accordance with the present disclosure;

[0019] [Oi l] Figs. 6A and 6B illustrate cross-sectional, side views of an exemplary container I / O interface system, in accordance with the present disclosure;.

[0020]

[0012] Fig. 6C illustrates a perspective, side view of an exemplary container I / O interface system, in accordance with the present disclosure;

[0021]

[0013] Fig. 6D illustrates a simplified side view of an exemplary container I / O interface system, in accordance with the present disclosure;

[0022]

[0014] Fig. 7A illustrates a simplified cross-sectional, side view of an exemplary container VO interface system, in accordance with the present disclosure;

[0023]

[0015] Fig. 7B illustrates a simplified side view, block diagram of an exemplary container tilt system, in accordance with the present disclosure;

[0024]

[0016] Fig. 8A illustrates a simplified block diagram of an exemplary drawer system of a container I / O interface system, in accordance with the present disclosure;

[0025]

[0017] Fig. 8B illustrates a simplified perspective, overhead view of a set of exemplary drawer systems, in accordance with the present disclosure; Aty. Docket No. 1127P017371-WO (PCT)

[0026]

[0018] Fig. 8C illustrates a simplified front view of the set of exemplary drawer systems of Fig. 8B, in accordance with the present disclosure;

[0027]

[0019] Fig. 8D illustrates a simplified perspective view of an exemplary drawer system in an extended position, in accordance with the present disclosure;

[0028]

[0020] Fig. 9 illustrates a simplified perspective view of an exemplary access bay, in accordance with the present disclosure;

[0029]

[0021] Figs. 10A and 10B illustrate simplified perspective views of exemplary container access bays with exemplary containers, in accordance with the present disclosure;

[0030]

[0022] Figs. 11 A and 1 IB illustrate zoomed in views of an exemplary container interlock, of the exemplary container access bays of Figs. 10A and 10B, in an open state and closed state respectively, in accordance with the present disclosure;

[0031]

[0023] Fig. 12 illustrates a simplified cross-sectional, side view of an exemplary drawer system, in accordance with the present disclosure;

[0032]

[0024] Fig. 13 illustrates a partially transparent, simplified perspective view of an exemplary container access bay with an exemplary barrier system, in accordance with the present disclosure;

[0033]

[0025] Figs. 14A and 14B illustrate different perspective views of a exemplary container access bays of a container BO interface system, in accordance with the present disclosure;

[0034]

[0026] Fig. 15 illustrates a perspective view of an exemplary container processing access bay, in accordance with the present disclosure;

[0035]

[0027] Fig. 16 illustrates a simplified flow diagram of an exemplary process of controlling inventory in a fulfillment system, in accordance with the present disclosure;

[0036]

[0028] Fig. 17 illustrates a simplified flow diagram of an exemplary container induction process, in accordance with the present disclosure; Aty. Docket No. 1127P017371 -WO (PCT)

[0037]

[0029] Fig. 18 illustrates a simplified flow diagram of an exemplary process of a mobile robot loading a container into a container I / O interface system, in accordance with the present disclosure; and

[0038]

[0030] Fig. 19 illustrates a simplified block diagram of an exemplary system for use in implementing methods, techniques, devices, apparatuses, systems, servers, sources and providing control of inventory, in accordance with the present disclosure.

[0039]

[0031] Elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions and / or relative positioning of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of various embodiments. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment are often not depicted in order to facilitate a less obstructed view of these various embodiments. Certain actions and / or steps may be described or depicted in a particular order of occurrence while those skilled in the art will understand that such specificity with respect to sequence is not actually required. The terms and expressions used herein have the ordinary technical meaning as is accorded to such terms and expressions by persons skilled in the technical field as set forth above except where different specific meanings have otherwise been set forth herein.

[0040] DETAILED DESCRIPTION

[0041]

[0032] The following detailed description is not to be taken in a limiting sense, but is made merely for the purpose of describing the general principles of the present disclosure. The following detailed description is meant to assist the understanding of one skilled in the art, and is not intended in any way to unduly limit claims connected or related to the present disclosure.

[0042]

[0033] The following detailed description references various figures, where like reference numbers refer to like components and features across various figures, whether specific figures are referenced, or not.

[0043]

[0034] The word “each” as used herein refers to a single object (i.e., the object) in the case of a single object or each object in the case of multiple objects. The words “a,” “an,” and “the” as used Aty. Docket No. 1127P017371 -WO (PCT) herein are inclusive of “at least one” and “one or more” so as not to limit the object being referred to as being in its “singular” form.

[0044]

[0035] Spatial terms such as “left,” “right,” “top,” “bottom,” “upper,” “lower,” “front,” “back,” “vertical,” and “horizontal” as may be used herein are by way of example and illustration only are not meant to limit the description and may be exchanged in position and orientation.

[0045]

[0036] The terms “substantially” and “about” as may be used herein refer to a feature that may be varied within an acceptable manufacturing tolerance for a given application.

[0046]

[0037] The systems and methods for order fulfillment described herein may provide added modularity and flexibility for managing order processing at a container and / or bag level within an order fulfillment system. The systems may provide improvements to system safety by reducing pinch points and automation access for an operator. Improved container volume utilization for order containers may allow for total system size optimization which may improve access to stores with more favorable automation footprints. More granular input / output (I / O) interface configurations may reduce minimum system dimensions required. The systems and process may improve workflow with fewer operator steps and may maximize the value of store associates and provide better customer experiences.

[0047]

[0038] Generally speaking, pursuant to the present disclosure, systems, apparatuses and methods are provided herein useful to order fulfillment within a retail facility. In the present disclosure, a retail fulfillment system may include a storage structure, plurality of mobile robots, and one or more container input / output (I / O) interface systems; although the retail fulfillment system may have any suitable configuration. The storage structure can include a plurality of levels that are vertically separated, and aisles extending along each of the plurality of levels. Each aisle can comprises a plurality of container storage locations configured to receive and temporarily store a container. The plurality of mobile robots can be configured to move throughout one or more portions or all of a fulfillment facility. The movement of the mobile robots can include movements laterally along the aisles and vertically through the storage structure to deposit and retrieve containers to and from the plurality of container storage locations, and the container input / output (VO) interface system. The container I / O interface system can include an access face, a robot interface, and a matrix of container access bays comprising a plurality of rows that are vertically Aty. Docket No. 1127P017371-WO (PCT) separated. Each of the plurality of rows can include a plurality of container access bays spaced along a length of a respective row, and the container access bays are positioned between the access face and the robot interface. The plurality of mobile robots can be configured to deliver containers to and retrieve containers from the container access bays through the robot interface, and each of the container access bays can include an autonomous interlock system that is activated, separate from the mobile robots, in response to a presence of a container at the respective container access bays to cause a barrier system to transition to an access state enabling access by an operator through the access face to the first container. The one or more barrier systems can be positioned and / or configured to inhibit, in cooperation with the access face, a user reaching from the access face and through a respective one of the container access bays to the robot interface.

[0048]

[0039] The present disclosure provides methods and / or process of controlling inventory in a retail fulfillment system comprising receiving orders for fulfillment through a fulfillment facility, wherein each of the orders is requesting one or more products. Mobile robots can be individually controlled to travel through a storage structure including a plurality of levels and aisles extending along each of the plurality of levels to retrieve a respective container from a container storage location of a plurality of container storage locations positioned along each of the aisles, wherein each of the plurality of container storage locations is configured to store one of a plurality of containers and each of the plurality of containers is configured to contain at least one of the one or more products. The mobile robots can be directed to move laterally along the aisles and vertically through the storage structure to a container input / output (I / O) interface system. A first mobile robot, of the mobile robots, can be directed to move along a first row of a matrix of container access bays, of the container I / O interface system comprising a plurality of rows that are vertically separated, wherein each of the plurality of rows comprises a plurality of container access bays spaced along a length of a respective row, and wherein the container access bays of the matrix are positioned between an access face and a robot interface; and to deliver a first container, of the plurality of containers, to a first container access bay of the container access bays through the robot interface. A barrier system of the container EO interface system may prevent a user from reaching from the access face and through a respective one of the container access bays to the robot interface. Aty. Docket No. 1127P017371-WO (PCT)

[0049]

[0040] Fig. 1 illustrates a simplified block diagram of an exemplary order fulfillment system 100, in accordance with the present disclosure. Figs. 2 and 3 show simplified isometric views of at least part of the exemplary order fulfillment system 100, in accordance with the present disclosure. Although the present disclosure will be described with reference to what is shown in the Figures, it should be understood that the present disclosure may be embodied in many forms. In addition, any suitable size, shape or type of materials or elements could be used. The order fulfillment system 100, in accordance with the present disclosure, may have features as described and / or may have in any suitable combination features as described in U.S. patent Nos. 9,139,363, entitled “Automated Systems for Transporting Payloads”; 11,142,398 entitled “Order Fulfillment System”; and 10,435,241 entitled “Storage and Retrieval System”; U.S. publication No. 2024 / 0078861 entitled “Methods and Apparatus for Facilitating Transport of Items Between a Store and a Customer Via a Customer Access Port”; U.S. Publication No. 2020 / 0223630 entitled “System having Workstation with Tote Retention and Release Mechanism”; and U.S. patent application No. 63 / 626,967, filed January 30, 2024, entitled “Retail Fulfillment Dispense and Decant Systems and Methods”; each of which is hereby incorporated by reference in its entirety.

[0050]

[0041] Referring to Figs. 1-3, the order fulfillment system 100 may include one or more storage structures 204 and autonomous mobile robots 202 or vehicles that are configured (e.g., with any suitable drive, container transfer, and control system(s)) to move through and transport containers through the storage structure 204. The one or more storage structures 204 includes and provides structural support establishing container storage locations that are configured to temporarily receive and store one or more of the containers. The mobile robots 202 can operate and move in three dimensions throughout the storage structure 204 to transport containers throughout the order fulfillment system 100 along tracks, vertical channels, decks, ramps and / or other sub-structures of the order fulfillment system 100. The storage structure 204, and operation and movement of the mobile robots is further described in, for example, U.S. patent Nos. 9,139,363; 10,435,241; and 11,142,398.

[0051]

[0042] The order fulfillment system 100 can include one or more types of workstations 206-207. One or more of the workstations 206-207 may be integrated into and positioned within the storage structure 204, and / or one or more workstations 206-207 may be spaced from the storage structure 204. One or more of the workstations 206-207 may be accessed by the mobile robots 202. The Aty. Docket No. 1127P017371-WO (PCT) access of the one or more workstations 206-207 by the mobile robots 202 can be directly from within the matrix of tracks, vertical tower channels, ramps, ramps and / or other such structures of the storage structure 204. Additionally or alternatively, one or more of the mobile robots 202 may access a workstation 206-207 by traveling along one or more planar surfaces, such as a floor of the facility in which the storage structure 204 is positioned, a deck, ramp, other such planar surfaces, or a combination of two or more of such planar surfaces.

[0052]

[0043] The storage structure provides a three dimensional array or grid of container storage locations configured to receive and store containers transported by the mobile robots 202. The storage structure 204 can include a plurality of vertically spaced levels 208, with a plurality of vertical tower channels establishing vertical paths between the plurality of levels. Each level can include a plurality of aisles extending through the storage structure 204 each comprising tracks extending along a length of each of the plurality of aisles and along which mobile robots travel. The container storage locations are provided at the plurality of levels and positioned on at least one side, and typically along both sides of each of the plurality of aisles. At least some of the storage locations are configured with predefined widths, heights and depths that correspond to dimensions of the containers and are configured to store the containers delivered by the mobile robots 202 and retrieved by the mobile robots. The storage structure 204, container storage locations, the tracks and the movement of the mobile robots 202 through the order fulfillment system 100 can be similar to those described in U.S. Patent Nos. 9,139,363; 10,435,241 ; and 11,142,398.

[0053]

[0044] One or more central control circuits 102 may be implemented through one or more processors, microprocessors, computers, servers, software, network equipment and / or other such control circuits that can be communicatively coupled over one or more distributed wired and / or wireless communication and / or computer networks 108 (e.g., local area networks (LAN), wide area networks (WAN), the Internet, cellular networks, local wireless networks (e.g., Bluetooth, Wi-Fi, ZigBee, etc.), other such networks, or a combination of two or more of such networks) with the mobile robots 202, workstations 206-207, 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 Aty. Docket No. 1127P017371-WO (PCT) system components, and typically a combination of two or more of such system components. The central control circuit 102 may track the location of the containers 602 throughout the order fulfillment system 100 and / or the location of the mobile robots 202 throughout the order fulfillment systems. The tracking can be based on sensor data (e.g., RFID sensors, barcode sensors, QR code sensors, optical sensors, GPS sensor systems, movement sensor systems of the mobile robots, imaging systems, video systems, other such tracking, or combination of two or more of such tracking). The central control circuit may track in real time the locations of each item or product throughout the order fulfillment system 100, at least in part, based on an identifier of a container 602 and / or sub-tote into which an item is placed and a location of the container within the order fulfillment system at any given time.

[0054]

[0045] The workstations 206 can be part of and / or formed within the storage structure 204. One or more of the workstations can be utilized for intake, dispense and / or decant applications within the order fulfillment system 100, enable picking with product containers presented and products retrieved from product containers in fulfilling orders (e.g., placing picked products into bags, order containers, etc.), and / or other operations.

[0055]

[0046] The mobile robots 202 can, for example, be any combination of autonomous robots and non-autonomous robots. The mobile robots 202 may travel along the aisles and the plurality of vertically spaced levels 208 of the storage structure 204 to store and / or retrieve containers. The mobile robots 202 may autonomously route containers throughout the storage structure 204 and the order fulfillment system 100 to fulfil orders in accordance with instructions from the one or more central control circuits 102 and / or other relevant control systems and / or devices. The mobile robots 202 and / or the central control circuit 102 may be configured with any suitable non- transitory computer program code to determine a route within the order fulfillment system 100 that minimizes traffic with other mobile robots 202. The mobile robots 202 may include container transfer mechanisms configured to retrieve containers from storage locations and / or access bays throughout the order fulfillment system 100, and / or to induct containers into storage locations and / or access bays. The mobile robots 202 may be able to induct and / or retrieve containers from the workstations 206-207 and / or the container VO interface system 112. Each (or one or more) of the plurality of mobile robots 202 can comprise one or more sensors that communicatively couple with one or more robot control circuits and / or systems that receive sensor signals and / or data from Aty. Docket No. 1127P017371-WO (PCT) the one or more sensors. The order fulfillment system 100 may include any combination of additional robots or robotic components to perform additional tasks including picking, dispensing, sorting, transferring, etc., pertaining to order fulfillment within the order fulfillment system 100.

[0056]

[0047] The fulfillment system 100 can include and / or be cooperated with one or more container input / output (I / O) interface systems 112. One or more of the container I / O interface systems 112 may be cooperated with the storage structure 204 enabling the mobile robots 202 to travel from the storage structure 204 and into the respective container I / O interface system 112 where the mobile robots can deliver and / or retrieve containers 602 to and from the respective container I / O interface system 112. The container I / O interface system 112 may be configured to accept and dispense a plurality of containers within the order fulfillment system 100, for example from within the storage structure 204 to an operator, or from an operator into the storage structure 204. The container I / O interface systems 112 can be configured to accept and dispense a plurality of containers simultaneously to expeditiously facilitate the filling of received orders within the order fulfillment system 100. The container I / O interface systems 112 may be cooperated with the workstations 206-207 during order fulfillment. One or more of the workstations 206-207 may include the container I / O interface systems 112 for dispensing and accepting containers, and / or one or more of the workstations 206-207 may be separate from the container I / O interface systems 112. A container I / O interface system 112 may be configured to perform a variety of functions including, inducting, dispensing, decanting, consolidating, etc., and may further be configured to be accessed by operators and mobile robots 202 alike.

[0057]

[0048] Still referring to Figs. 1-3, the order fulfillment system 100 may include one or more product assignment systems 106, one or more product ordering systems 110, one or more container I / O interface systems 112, one or more product retrieval systems 114, one or more product distribution systems 116, and one or more inventory systems communicatively coupled over one or more computer and / or communication networks 108. The order fulfillment system 100 may include one or more databases 104. The order fulfillment system 100 may be in communication with one or more user interface units or user computing systems 120, such as but not limited to user smartphones, tablets, laptops, computers, and / or other such computing systems that enable a user to communicate with the order fulfillment system 100. One or more of the user computing systems 120 may be part of the order fulfillment system 100, and / or one or more of the user Aty. Docket No. 1127P017371-WO (PCT) computing systems 120 may be separate and distinct from the order fulfillment system 100. The order fulfillment system 100 can include and / or be in communication via the one or more networks 108 with the one or more databases 104.

[0058]

[0049] The one or more product assignment systems 106 can assign products to order containers. When an order is placed in the order fulfillment system 100, the one or more product assignment systems 106 will assign the order to empty order containers in the order fulfillment system 100. Empty order containers may be housed throughout the storage structure 204, and upon receiving an order and assigning the order to the empty order containers, the order fulfillment system 100 may route the empty order containers to the workstations 206-207 or to the container I / O interface system 112. The one or more product assignment systems 106 may be communicatively coupled to the user computing systems 120, and a customer may use the user computing systems 120 to place the order with the order fulfillment system 100. The one or more product assignment systems 106 may be communicatively coupled with the user computing systems 120 and the order fulfillment system 100 over the communication networks 108.

[0059]

[0050] The one or more product retrieval systems 114 retrieves products from the order fulfillment facility when an order is filled. Once the order has been placed with the order fulfillment system 100 and the one or more product assignment systems 106 has assigned the order to the empty order containers, the product retrieval systems 114 may retrieve products for the order from within the order fulfillment system 100. Products may be housed in containers within the storage structure 204 and / or housed on a sales floor of a retail facility. The retrieved products may be brought manually by an associate or autonomously by the order fulfillment system 100 to the workstations 206-207 and / or the container I / O interface system 112. At the workstations 206-207 and / or the container I / O interface system 112 products may be consolidated from containers and / or other product storage locations in the order fulfillment system 100 into the order containers assigned to the order being filled. Once an order has been completed, full order containers may be transported through the order fulfillment system 100 to a storage location elsewhere in the order fulfilment facility.

[0060]

[0051] The one or more product distribution systems 116 distribute filled orders. The one or more product distribution systems 116 function directly with the container I / O interface systems 112, Aty. Docket No. 1127P017371-WO (PCT) such that a filled order is sent by the order fulfillment system 100 to the container I / O interface system 112 for distribution. The container I / O interface system 112 may be configured to dispense order containers to an associate for distribution out of the order fulfillment facility and / or to a location elsewhere in the order fulfillment facility. An order may be filled but not distributed, in which case the order fulfillment system 100 is configured to return the products in the order containers into their respective spots in the order fulfillment facility.

[0061]

[0052] The one or more inventory systems 118 can monitor product inventory in the order fulfillment system 100. When an order is fulfilled and distributed, the one or more inventory systems 118 are configured to update inventory counts of products in the order fulfillment system 100 based on the products filled for the respective order. The one or more inventory systems 118 may be able to categorize the amount of inventory of a product by high stock, average stock, low stock, etc. The categorizing of products may be product specific, for example, a product that is sold more often may require a different amount of stock to be considered having high stock than a product that is sold less often. Where an order is successfully filled and distributed, the one or more inventory systems 118 update the inventory based on the products distributed in the order. Where an order is successfully filled but not distributed, the one or more inventory systems 118 do not update the inventory.

[0062]

[0053] The one or more product ordering systems 110 may be in communication with the one or more inventory systems 118 and can order new products based on updated inventory levels of the order fulfillment system 100. For example, if the one or more inventory systems 118 have indicated that the stock of a product is average stock or low stock, the one or more product ordering systems 110 may order new stock of the indicated product. A product determined by the one or more inventory systems 118 to have average stock, for example, may have a smaller quantity ordered by the one or more product ordering systems 110 than a product determined to have low stock. The amount of additional units ordered per type of product may be a predetermined amount dependent on the specific product being ordered, for example, the one or more product ordering systems 110 may order more units of one product with low stock than it will for a different product with low stock. Aty. Docket No. 1127P017371-WO (PCT)

[0063]

[0054] Fig. 4 illustrates a perspective view of at least a portion of an exemplary container I / O interface system 112, in accordance with the present disclosure. Fig. 5A illustrates a perspective view of at least a portion of an exemplary container I / O interface system 112 that comprises the matrix 403 of access bays 404, with one or more of the access bays 404 comprising a container processing access bay 502, in accordance with the present disclosure. Fig. 5B illustrates a perspective view of an exemplary container I / O interface system 112, in accordance with the present disclosure. Figs. 6A and 6B illustrate cross-sectional, side views of an exemplary container I / O interface system 112, in accordance with the present disclosure. Fig. 6C illustrates a perspective, side view of an exemplary container I / O interface system 112, in accordance with the present disclosure. Fig. 6D illustrates a simplified side view of an exemplary container VO interface system 112, in accordance with the present disclosure.

[0064]

[0055] Referring to Figs. 1-6D, the container I / O interface system 112 can be configured as a modular system(s), where the support structure (e.g., framing, joists, etc.) are configured to enable any one of multiple different types of access bays to be inserted into the container I / O interface system 112 and / or replaced by a different access bay or different type of access bay. For example, the container I / O interface system can be configured to receive a drawer system, container processing access bay, and / or other such system. The container I / O interface system 112 can include one or more access faces 406, one or more robot interfaces 408, and a matrix 403 of container access bays 404 comprising a plurality of rows 402 that are vertically separated. The container I / O interface system 112 may include two matrices 403 of container access bays 404 that are separated by a robot interface aisle 405, with respective robot interfaces 408 positioned on opposite sides of and along at least a portion of the robot interface aisle 405; although any suitable number of matrices of container access bays may be provided. For simplicity, Fig. 4 only shows a single access face 406 and matrix 403 of container access bays 404. It will be appreciated by those skilled in the art, however, that two access faces 406 and matrices 403 of container access bays 404 can be incorporated on each side of the robot interface aisle 405. One or more, and typically each of the plurality of rows 402 includes plurality of container access bays 404 that can be spaced along at least a portion of a length of a respective row. One or more of the container access bays 404 may be cooperated with the access face 406, and positioned and / or extending between the access face 406 and the robot interface 408. The mobile robots 202 can be configured to deliver and retrieve containers 602 to and from the respective container access bays 404 through the robot Aty. Docket No. 1127P017371-WO (PCT) interface 408. One or more, and typically each of the container access bays 404 may include a barrier system that can comprise one or more components that can be positioned and / or operate to inhibit, in cooperation with the access face 406, a user reaching from the access face 406 and through a respective one of the container access bays 404 to the robot interface 408. Through the container access bays 404, an operator and / or robotic system can interface with the containers to insert items into a container, insert one or more bags of one or more items, retrieve one or more items from a container, retrieve a container, retrieve one or more bags of one or more items, decant items into the storage structure, and / or other such actions.

[0065]

[0056] The container I / O interface system 112 may be connected to the storage structure 204 by one or more rails that are physically extended from and / or cooperated with the storage structure 204. The robot interface aisle 405 of the container I / O interface system 112 may be positioned with one end of the robot interface aisle 405 connected to the storage structure 204. Additionally or alternatively, the container I / O interface system 112 may be connected to the storage structure 204 by the robot interface 408 such that the robot interface aisle 405 of the container I / O interface system 112 is integrated into the storage structure 204. The I / O interface system 112 may be separated by distance from the storage structure 204, and the mobile robots 202 may travel along one or more rails, decks, planar surfaces (e.g., floor) to access the I / O interface system 112. The order fulfdlment system 100 may have any combination of container I / O interface systems 112 integrated with and / or connected to the storage structure 204.

[0066]

[0057] The plurality of rows 402 of the one or more matrices 403 may include a plurality of rows 402 vertically spaced from each other. There may be substantially any number of the container access bays 404 spanning across a single row. The rows may include the same number or different number of access bays. The container access bays 404 may be equally spaced across a single row. The plurality of rows 402 may fill the entire horizontal length of the access face 406 and / or may fill part of the horizontal length of the access face 406. For example, all or some of the plurality of rows 402 may span the entire horizontal length of the access face 406; although all or some the plurality of rows 402 may each span a different amount of the horizontal length of the access face 406. Similarly, the plurality of rows 402 may span the entire height of the access face 406 and / or part of the height of the access face 406. As shown in Fig. 4, the plurality of rows 402 may span part of the entire height of the access face 406. The access face 406 may include one or more Aty. Docket No. 1127P017371-WO (PCT) additional components such as, but not limited to, one or more user interfaces 412 (e g., display, keyboard, button, touchscreen, mouse, other such user interfaces, or a combination of two or more of such user interfaces), racks, tracking systems (e.g., hand tracking systems, RFID tag tracking systems, barcode reader tracking systems, etc.), indicators, other such components, or a combination of two or more of such components, that may be useful to an operator, a I / O interface control circuit, the central control circuit 102, the mobile robots 202, robotic arm systems, and / or other system components.

[0067]

[0058] The container access bays 404 are configured to be accessible by one or more human operators and / or one or more robotic systems (e.g., articulated robotic systems, robotic arms, conveyor systems, etc.) through the access face 406 and accessible by the mobile robots 202 through the robot interface 408. Generally, the container access bays 404 are configured to receive and / or engage with at least one container 602 such that the container 602 is accessible through the access face 406 by the operator and is accessible at the robot interface 408 by the mobile robots 202. A container 602 in the container access bays 404 may be removable from the access face 406 by an operator, and removable from the robot interface 408 by the mobile robots 202.

[0068]

[0059] The container access bays 404 may support unidirectional movement of a container 602. For example, a container 602 being inducted into the order fulfillment system 100 at the container I / O interface system 112 may enter one of the container access bays 404 at the access face 406, travel through the container VO interface system 112 to be removed by one of the mobile robots 202 at the robot interface 408, which can enable the mobile robot to transport the container elsewhere within a storage structure 204 and / or the order fulfillment facility. Alternately or additionally, a container 602 being dispensed from the order fulfillment system 100 at the container I / O interface system 112 may be brought to the robot interface 408 by one of the mobile robots 202 from a location within the storage structure 204 and / or elsewhere in the order fulfillment facility. The deposited container can be retrieved through the container I / O interface system 112 to be removed, for example, by an operator at the access face 406.

[0069]

[0060] The container access bays 404 may include a drawer system 420, a slot, a tilt mechanism, one or more doors, other such components or a combination of two or more of such components that can receive and at least temporarily retain the container. The container access bays 404 may Aty. Docket No. 1127P017371-WO (PCT) allow an operator to access a container 602 within the container I / O interface system 112 from the access face 406. Fig. 4 illustrates an exemplary matrix of container access bays 404 with at least one container access bay 404 comprising an exemplary drawer system 420.

[0070]

[0061] The access face 406 may be a first side of the container VO interface system 112 that is accessible by an operator. The access face 406 may comprise a wall or other barrier that separates the operator from the robot interface 408 and / or other parts of the order fulfillment system 100 that contain mechanical elements such as components accessible by the mobile robots 202. The access face 406 may limit an operator’s ability to come into contact with pinch points, mechanical systems, other automated components in the order fulfillment system 100, and / or other such systems, including the mobile robots 202, that may have undesired effects on the operator. The access face 406 may extend above the matrix 403 of container access bays 404. The access face 406 may span a vertical height of the container I / O interface system 112 and / or a height of the storage structure 204. The access face 406 may span the vertical height of the plurality of rows 402 of the container access bays 404. The container access bays 404 may be integrated into the access face 406 such that the container access bays 404 are accessible by both an operator at the access face 406 and the mobile robots 202 at robot interface 408.

[0071]

[0062] The robot interface 408 may be a second side of the container I / O interface system 112 that is accessible by the mobile robots 202 via the robot interface aisle 405. The robot interface 408 may be integrated into the storage structure 204 and includes two or more vertically spaced interface levels 414. The vertically spaced interface levels 414 may be configured to align with one of the plurality of rows 402. The interface levels 414 may be integrated with the container VO interface system 112 each corresponding to one of the plurality of rows 402 of the container I / O interface system 112. For example, the container VO interface system 112 may include an interface level 414 along each of the rows 402. The container VO interface system may include more vertical interface levels 414 (e.g., interface levels 414a-414g) than the number of rows 402 enhancing maneuverability of the mobile robots within the container I / O interface system 112.

[0072]

[0063] A subset of and less than all of the plurality of interface levels 414 of the container I / O interface system may correspond with the plurality of rows 402. Where a subset of the interface levels 414 integrated with the container I / O interface system 112 correspond to the plurality of Aty. Docket No. 1127P017371-WO (PCT) rows 402, one or more of the remainder of the plurality of interface levels 414 may be used as storage locations for containers 602 within the storage structure 204 and the order fulfillment system 100.

[0073]

[0064] The container I / O interface system 112 may include the same number of interface levels 414 as the storage structure 204, or a different number of interface levels as the storage structure 204.

[0074]

[0065] One or more of the interface levels 414 that are not aligned with a matrix and / or row of access bays may include container guides 520 (e.g., see Fig. 5B), defining a storage location 521, that are configured to have a separation 523 or width approximately equal to a width of a base of a container 602. The container guides 520 may aid in guiding movement of a container into and out of a storage location 521. The access bays 404 may have a similar or same footprint and / or width as the container guides 520 to enable the access bays 404 to be positioned in place of the container guides 520. Fig. 5B shows an embodiment of an exemplary container I / O interface system 112 that includes the matrix 403 of access bays comprising a container processing wall that comprises a set of one or more container processing access bays 502 that enable containers 602 to be ingested into the order fulfillment system 100 and / or storage structure 204, and / or enables containers 602 to be removed from the order fulfillment system 100 and container I / O interface system 112.

[0075]

[0066] One or more or each of the container processing access bays 502 can include a barrier system 410 (e.g., flap, door, etc.). Still referring to Figs. 1-6D, the barrier system 410 can be configured to prevent an operator from accessing the robot interface 408 through the container access bays 404 to at least in part enhance safety. The container access bays 404 are configured to be accessible by both an operator at the access face 406 and the mobile robots 202 at the robot interface 408. The container access bays 404 may be configured to enable a container 602 to travel between to the robot interface 408 and the access face 406. The one or more barrier systems 410 of the container access bays can impede or prevent an operator from reaching through to the robot interface 408. The barrier system can inhibit access through the container access bay while a container 602 is not actively in an access bay 404 of the container I / O interface system 112. Additionally or alternatively (e.g., optionally), the barrier systems may include the respective Aty. Docket No. 1127P017371-WO (PCT) container where the container forms part of the barrier system when the container is positioned in the respective container access bay. The barrier system can utilize the container 602 as part of the barrier system with the container in at least some positions restricting an operator’s access through the container I / O interface system.

[0076]

[0067] One or more of the container access bays 404 and / or the robot interface 408 can include one or more autonomous interlock system 614 that can be activated in response to a presence and / or absence of a container 602 at the respective one of the container access bays, and is typically independent of a state of operation of the mobile robots, instructions issued to the robots and / or remote control of the robots. The autonomous interlock system 614 can cause the barrier system 410 to transition between an access state, with a first or open access state enabling access by an operator through the access face to the container 602, which can enable the operator to retrieve and / or insert one or more items from and / or to the container, and a non-access state. The interlock system can operate independent of the control of the mobile robots, or a state of operation of the mobile robot. The interlock system 614 may be a passive interlock system that operates independent of the central control circuit 102 and / or an operating state of a respective mobile robot. The passive interlock system can be activated to transition between the access state and the non- access state in response to a container being inserted into and removed from the respective access bay 404, in response to a mobile robot 202 aligning with a respective access bay, and / or other such passive activations. The interlock system can comprise one or more buttons, one or more levers, one or more spring biased elements, one or more electronic sensors, one or more RFID tag readers, one or more barcode scanners, other such systems, or a combination of two or more of such systems that can be triggered in response to the presence and / or absence of a container. An I / O interface control circuit can activate and / or deactivate an interlock system and / or an access bay control circuit can activate and / or deactivate the interlock system, for example, in response to sensor data from one or more sensor of the container I / O interface system and / or communication from a mobile robot.

[0077]

[0068] The container access bays 404 and / or the barrier system 410 can be configured to restrict unidirectional movement of the container 602 into and / or out of a container access bay to a first direction, and prevent movement of the container 602 in a second direction opposite the first direction when the container is in a particular position. The unidirectional movement may include, Aty. Docket No. 1127P017371-WO (PCT) for example, an input direction, which for example can allow an operator loading the container 602 to insert the container into a container access bay 404 through the access face 406, and a mobile robot 202 may retrieve the loaded container 602 from the respective container access bay 404 at the robot interface 408. The unidirectional movement may include, for example, an output direction which can, for example allow a mobile robot 202 loading the container 602 into a container access bay 404 at the robot interface 408, and an operator accessing and / or retrieving the loaded container 602 from the respective container access bay 404 through the access face 406. The barrier systems 410 may include and / or utilize a container 602, when the container is positioned in the respective one of the container access bays 404. Additionally or alternatively (e.g., optionally), the barrier system 410 may be any combination of one or more: locking systems, interlocks, drawers, flaps, doors, containers, other such components, or a combination of two or more of such barrier components that inhibit, or prevent an operator from accessing the robot interface 408, through the container access bays 404, while allowing a container 602 to be accessible by the operator from the container access bay and accessible by a mobile robot at the robot interface 408.

[0078]

[0069] The container access bays 404 may include one or more unidirectional container induction bays 502, and a respective barrier system 410 of the unidirectional container induction bay may restrict movement of the containers 602 through the container access bays 404. The movement may be restricted to receiving the container 602 from the access face 406 into the unidirectional container induction bay 502 to be accessible from the robot interface 408, and preventing the container 602 from being transferred from the robot interface 408 to the access face 406. The at least one unidirectional container induction bay 502 can include a container receiving system configured to receive a container 602 and transfer the container 602 from the access face 406 into the respective unidirectional induction bay such that the container 602 is accessible from the robot interface 408. The container receiving system may be further configured to prevent a container 602 from being transferred from the robot interface 408 to the access face 406. The unidirectional induction bay may restrict movement of the container 602 from the robot interface 408 to the access face 406. A container receiving system may be configured to receive a container 602 from the robot interface 408, and enable the container 602 to be accessible from the access face 406, and prevent the container 602 from being transferred from the access face 406 to the robot interface 408. Aty. Docket No. 1127P017371-WO (PCT)

[0079]

[0070] Still referring to Figs. 1-6D, the barrier system 410 of the container access bays 404 may comprise a door 618, a flap located in a container access bay 404 adjacent to the robot interface 408, the container, other such components or a combination of such components. The barrier system 410 may further include a drawer system 420 and / or a door 618. For example, a door can be positioned at the side of the container access bays 404 adjacent to the access face 406. The door 618 can be part of a drawer system, such as front face of a drawer. The door may be a separate component that operates independent of the drawer (e.g., open the door to access and pull out the drawer). The barrier system may include one or more door locking systems 620 that can lock the door and prevent the door from opening and / or a drawer from being from being moved from a retracted position to an extended position exposing the container positioned within the drawer. The door locking systems 620 can include one or more latches, levers, tabs, pins, bolts, other such locking mechanisms or a combination of two or more of such locking mechanisms.

[0080]

[0071] Still referring to Figs. 1-6D, the plurality of vertically separated interface rails 612 and / or pairs of interface rails 612 can each extend along the length of a respective row 402, and be configured to support one or more mobile robots enabling the mobile robots 202 to travel along the respective robot interface 408 of the container I / O interface system 112 to align with an intended one of the container access bays 404 of the matrix 403 of container access bays 404. The interface rails 612 may be positioned in the robot interface aisle 405 and the mobile robots 202 can self-propel and travel along the robot interface aisle supported by an intended pair of interface rails 612 to position the mobile robots 202 to be able to interface with container access bays 404 on each side of the robot interface aisle 405. The mobile robots can include a container transfer mechanism 608 that engages a container 602 and can be configured to move the container 602 onto and off of the mobile robot 202. Fig. 6A illustrates a container 602 being transported by a mobile robot 202 to align with an intended container access bay. Fig. 6B illustrates the mobile robot 202, of Fig. 6A, transferring the container 602 into the intended container access bay 404 at the robot interface 408, for example, by a container transfer mechanism 608 of the mobile robot. Exemplary container transfer mechanism systems that may be employed with the mobile robot are described in U.S. Patent Nos. 9,139,363, 10,435,241, 11,142,398, and 11,203,486, each of which is incorporated herein by reference in its entirety. Aty. Docket No. 1127P017371-WO (PCT)

[0081]

[0072] The robot interface 408 may include a plurality of pairs of interface rails 612, each corresponding to one of the plurality of rows 402 of the matrix of container access bays 404 and extend along the plurality of container access bays 404 of the respective row 402, and each interface rail of the pair of interface rails being separated by the robot interface aisle 405. One or more or each of the pairs of interface rails 612 may be configured to support one or more of the mobile robots 202 as the mobile robots 202 move to a position adjacent an intended one of the container access bays 404 of the respective row 402. The pairs of interface rails 612 may be the same as or similar to the tracks of the storage structure 204. The robot interface 408 may include one or more sets of matrix vertical tracks 610 that can extend at least between two or more of the plurality of pairs of interface rails 612, and are configured to enable the mobile robots to selfpropel and vertically climb to an intended one of the plurality of rows 402. The one or more sets of matrix vertical tracks 610 may be similar to and / or the same as vertical channels of the storage structure. The mobile robots may comprise climbing systems that are configured to engage at least one set of matrix vertical tracks 610, one track on each side of the robot interface aisle 405 and the mobile robot 202, and self-propel vertically within the robot interface aisle 405 to position itself vertically aligned with an intended one of the pairs of interface rails 612 along which an intended access bay 404 is positioned. The pairs of interface rails 612 and one or more of the sets of matrix vertical tracks 610 establish a robot track grid positioned across the robot interface 408. The robot track grid may establish a plurality of different paths to access each of the container access bays 404 of the matrix of container access bays 404. This provides for redundancy in the event of one or more failures of one or more robots, increased throughput of mobile robots and containers, and other such advantages.

[0082]

[0073] Fig. 7A illustrates a simplified cross-sectional, side view of an exemplary container I / O interface system 112. One or more of the container access bays 404, of the matrix of container access bays 404, can comprise a container tilt system 702 secured with the support structure 703 (e g., framing, joists, beams, cross-beams and / or other such support structures 703) of the container I / O interface system 112. The container tilt system 702, in some embodiments, can be selectively operated to move between a container tilted position and a container-retracted position. The container tilt system 702 can be implemented in part through a multiple bar linkage (e g., four bar linkage) with unequal length crank and rocker, or simple pivot location as shown in Figs. 7A-7B. This can provide, for a more ergonomic configuration for operations. A single container I / O Aty. Docket No. 1127P017371-WO (PCT) interface system 112 can include multiple different types of container access bays (e.g., one or more of the container access bays with tilt systems, one or more access bays with drawer systems, one or more access bays with doors, one or more access bays with container retaining systems, other container access bays, or a combination of two or more different types of container access bays.

[0083]

[0074] Fig. 7B illustrates a simplified side view, block diagram of an exemplary container tilt system 702, of Fig. 7A, in a container-tilted position. Referring to Figs. 7A and 7B, in the container-tilted position, a container 602, positioned within the container tilt system 702, may moved to be at least partially exposed and external to the access face 406 and tilted at an angle 710 relative to the access face 406 exposing at least part of an interior of the container 602. The container tilt system 702 in the container-retracted position may maintain the container within the respective container access bay 404. The container tilt system 702 may include one or more container supports 704, one or more tilt beams 706 secured with the container supports 704 and further secured with the support structure of the container I / O interface system via a pivot 708, hinge, axle and / or other such structure or combination of two or more of such structures enabling the one or more container supports 704 to be moved from a retracted position and a tilted position. The container supports 704 can be positioned to support the container 602 such that in the tilted position the container 602 operates as part of the barrier system inhibiting or preventing an operator from reaching through the access bay when in the tilted position (e.g., a back, upper portion of the container 602 positioned proximate a bottom of a container access bay above the respective container access bay and / or other such barrier structure, while the back wall of the container, closest to the robot interface, prevents reaching through the container access bay).

[0084]

[0075] Fig. 8A illustrates a simplified block diagram of an exemplary drawer system 802 of a container access bay 404 viewed from an access face 406 side. As described above, one or more of the container access bays 404 can each comprise a drawer system 802 that can be secured with the respective container access bays 404. The drawer system 802 may include a container receiving interface (not shown in Fig. 8) configured to be oriented proximate the robot interface 408 and further configured receive and position a container 602 within the drawer system 802. The drawer system 802 may include an extending system 804 enabling the drawer 810 to be moved between an extended state and a retracted state. In the extended state, at least a portion of the drawer is Aty. Docket No. 1127P017371-WO (PCT) extending out from the access face 406 through the access face 406 of the container I / O interface system 112 such that at least a portion of the container 602 is positioned within the drawer system 802 and exposed outside of the access face 406. In the retracted state, the drawer 810 and the container 602 are moved to be positioned within the respective container access bas 404 and between the access face 406 and the robot interface 408.

[0085]

[0076] At least one of the drawer systems 802 may include a container retaining system 812, which can be configured to prevent removal of the container 602 from the respective drawer system 802 when the respective drawer system 802 is in the extended state. The container retaining system 812 may be a clip, barrier, interlock, etc., configured to prevent removal of a container 602 from the drawer system 802. The container retaining system 812 may be the extending system 804, and an extension distance of the drawer retains the container 602 within the drawer system 802 while in the extended position. Additionally or alternatively (e.g., optionally), the container retaining system 812 may comprise one or more ridges, lips, tabs and / or other such structure extending from a side of the drawer 810 under which the container 602 is slid when inserted into the access bay 404 from the robot interface such that at least one or more upper edges of the container contact should the container 602 try to be removed from the access bay 404 from the access face 406 when the drawer system is in the extended state. The drawer system 802 may not include a container retaining system 812 or the container retaining system may be disengaged enabling a container 602 to be removed from the drawer system 802, and thus the access bay 404, and / or a container can be inserted into a drawer system 802 and thus subsequently be retrieved by a mobile robot 202 through the container receiving interface and the robot interface 408.

[0086]

[0077] Fig. 8B illustrates a simplified perspective, overhead view of a set of exemplary drawer systems 802a-802c, in accordance with the present disclosure. Fig. 8C illustrates a simplified front view of the set of exemplary drawer systems 802a-802c of Fig. 8B, in accordance with the present disclosure. Fig. 8D illustrates a simplified perspective view of an exemplary drawer system 802d in an open or extended position, in accordance with the present disclosure. Referring to at least Figs. 8B-8D, the drawer systems 802a-802d are configured to receive and temporarily contain a container 602. One or more of the drawer systems 802a-802d can include one or more container retaining devices or systems 812 that can be configured to prevent removal of the container 602 by a user from the respective drawer system 802a-802d when the respective drawer system (e.g., Aty. Docket No. 1127P017371-WO (PCT) exemplary drawer system 802d) is in the extended position or state. A container retaining system 812 can include a rear portion that extends over at least a portion of an upper edge of the container, and may extend over a portion 816 of an interior cavity of the container while exposing a majority of the interior cavity of the container. The open or exposed portion of the container enables a user to access items within the container and / or to insert items into the container when the drawer system is in the extended position.

[0087]

[0078] The drawer system 802, 802a-802d may include a container receiving cavity 820 into which at least one container 602 can be received, such as when inserted through the container receiving interface positioned proximate the robot interface 408. The container retaining system 812 may be a plate, multiple plates, one or more clips, barrier, one or more interlocks, etc., configured to prevent removal of a container 602 by an associate from the drawer system 802, while not interfering with a mobile robot inserting or removing the container. The container retaining system 812 may extend around some or all of an upper edge or circumference of the container.

[0088]

[0079] Fig. 9 illustrates a simplified perspective view of an exemplary access bay 404 viewed from a robot interface 408 side, in accordance with the present disclosure. The container I / O interface system 112 and / or one or more of the container access bays 404 and / or interlock system may comprise one or more locking systems 900 that can transition between a locked state and an unlocked state. The locked state may prevent access to an interior of the container access bay 404. The unlocked state may enable access, through the access face 406, to the respective container access bay 404 (e.g., enabling a drawer to be pulled out from the container access bay 404). The locking system 900 can include a door locking system 620 that locks a door 618, a drawer locking system that locks a drawer, a container locking system, other such locking systems, or a combination of two or more locking systems. The locking system 900 and / or interlock system 614may include and / or cooperatively operate with one or more trigger systems 904 of the container access bay 404. The trigger system 904 may be positioned to detect a presence and / or absence of a container 602 within the respective container access bay 404. The trigger system 904 may be activated in response to a container 602 being positioned within the respective container access bay 404, and automatically trigger the locking system 900 to be in an unlocked state. For example, a trigger system 904 may include one or more pressure sensitive plates, one or more levers, one or Aty. Docket No. 1127P017371-WO (PCT) more buttons, one or more motion sensors, one or more optical sensors, other such triggers, or a combination of two or more of such triggers, and / or other sensors that can cause one or more pegs 905, posts, latches, levers, bolts, locks, other such locking mechanisms or a combination of two or more of such locking mechanisms to be put into an unlock state (e.g., retraced from a framing of the access bay and / or the framing of the container I / O interface system 112) and enabling access to the container (e.g., enabling a drawer to be moved to an extended state, enabling a tilt system to tilt, enabling a door 618 to be opened, enabling a container to be pulled to an extended state and / or removed from the access bay, and / or other such access. The trigger system 904 may be configured to trigger an unlocking of the locking system in response to the detection of a container 602 within the container access bay 404. The trigger system may be deactivated (or activated depending on a configuration), in response to a lack of the container 602 being positioned in the respective container access bay 404, and trigger the locking system 900 to be in the locked state.

[0089]

[0080] The matrix 403 and / or one or more of the barrier systems 410 may include a door 430 cooperated with the access face 406. One or more door locking systems 620 may operate in cooperation with a respective door 430, and can transition between a locked state, preventing opening of the door, and an unlocked state, enabling the door to open. A trigger system 904 of a container access bay 404 may be configured to be activated in response to the container 602 being positioned at the respective container access bay 404, which may trigger the door locking system 620 to be in the unlocked state. The trigger system may be configured to be deactivated in response to a lack of the container 602 being positioned in the respective container access bay 404, which may trigger the door locking system 620 to be in the locked state. Additionally or alternatively (e.g., optionally), the trigger system 904 may trigger one or more components of the barrier system, such as locking and unlocking a barrier flap that swings in an unlocked state between a down position when a container is not present inhibiting an operator from reaching through the container access bay, and an up position (e.g., pushed up by the insertion of a container) enabling the container to be inserted into, accessed from the access face and / or moved through the container access bay (e.g., via a container induction bay 502). The flap, for example, may swing in one direction when the container access bay is limited as a unidirectional access bay, and may swing both toward the access face 406 and toward the robot interface 408 when the container access bay is utilized as a bidirectional access bay. A container I / O interface control circuit and / or an access bay control circuit may control the one directional swing or a bidirectional swing of the flap in Aty. Docket No. 1127P017371-WO (PCT) response to a trigger signal from one or more trigger systems 904. The trigger system may include a plurality of sensors, for example, weight sensors, light sensors, heat sensors, optical sensors, cameras, other such sensors, or a combination of two or more of such sensors, to detect the presence and / or absence of a container 602 within one of the container access bays 404. The sensors of the trigger system may be cooperated with and / or positioned within a container access bay 404 (e.g., one or more walls, a base, a top, etc.), the access face 406, the robot interface 408, a barrier system 410, external to the access bay, other such positioning or a combination of two or more of such positioning.

[0090]

[0081] The present disclosure provides for a locking system 900 that is generally configured to allow a user access to a container 602 while in an unlocked state, and not allow a user access to an interior of the container access bay 404 and / or a container 602 while in a locked state. The locking system 900 may include any number of latches, locks, notches, sensors, barrier systems, etc., which allow and / or disallow a user access to a container 602 from the access face 406.

[0091]

[0082] The barrier system 410, autonomous interlock system 614 and / or locking system 900 may comprise a drawer interlock 905 or drawer locking system that can be configured to lock a drawer, such as a drawer of the drawer system 802 referenced in Fig. 8, into place within the container access bay 404. The drawer interlock 905 may be configured to lock and / or unlock a door or alternate mechanism at the access face 406. The drawer interlock 905 may allow a user access to a container 602 via the access face 406 while the drawer interlock 905 is in an unlocked state and may not allow a user access to the container 602 via the access face 406 while the drawer interlock 905 is in a locked state. The drawer interlock 905 may be locked and unlocked by one or more trigger systems. The drawer interlock 905 may include one or more locks, one or more levers, one or more latches, other such mechanisms, or a combination of two or more of such mechanism, which are able to lock the drawer system 802 in place with the container access bay 404. The barrier system can mitigate the ability for someone to gain access to dynamic system components, and may provide compliance with one or more safety standards and / or government regulations. For example, one or more of these standards can provide distances, sizes of holes and openings, and / or other such standards. The barrier system 410 can include other types of components or devices such as, but not limited to garage style doors, garage style roller doors, revolving style doors, interwoven bar style doors, saloon style doors, other such barrier systems or a combination Aty. Docket No. 1127P017371-WO (PCT) of two or more of such systems. Accordingly, the barrier systems can provide conformance with any suitable standards or government regulations.

[0092]

[0083] Fig. 10A illustrates a simplified perspective view of an exemplary access bay 404 with an exemplary container 602 positioned within the access bay and an exemplary container interlock 1002 and / or locking system in an unlocked state or open state. Fig. 10B illustrates a simplified perspective view of the exemplary access bay 404 of Fig. 10A with the exemplary container 602 positioned within the access bay 404 and the exemplary container interlock 1002 in a locked state or closed position. Fig. 11 A illustrates a zoomed in view of an exemplary container interlock 1002 of Fig. 10A in an open state. Fig. 11B illustrates a zoomed in view of the exemplary container inlock 1002 of Fig. 10B in a closed state. Referring to at least Figs. 10A-11B, the container interlock 1002 may be configured to maintain and / or lock a container 602 within the container access bay 404. The container interlock 1002 may be positioned adjacent the robot interface 408 and allows a container 602 to enter and / or exit the container access bay 404 via the robot interface 408 while the container interlock 1002 is open. The container interlock 1002 may be locked and unlocked and / or opened and closed by the trigger system and / or a mobile robot. For example, the container transfer mechanism 608 of the mobile robot may trigger a container interlock trigger system. Additionally or alternatively (e.g., optionally), the container may trigger a container interlock trigger system. The container interlock 1002 may include any combination of locks, levers, latches, notches, etc., which at least in part are configured to help maintain a relative position of the container 602 within the container access bay 404 and / or prevent a container from being pushed beyond a threshold boundary into the container access bay and towards the robot interface. Such positioning, in part, can prevent a container from interfering with the mobile robots moving along the interface rails and / or accurately accessing a container.

[0093]

[0084] With the container interlock 1002 in the open position, one or more flaps, levers, plates or the like can be in a generally horizonal position and / or positioned against a bottom of the container access bay 404 allowing a container 602 to move across the container interlock 1002, for example, into the container access bay 404 from the robot interface 408, and / or from the container access bay 404 toward the robot interface 408. The container interlock 1002 may be moved from a closed state to an open state and / or vice versa by pivoting about one or more rods, hinges, and / or other such mechanisms. For example, the container interlock 1002 may comprise one or more plates Aty. Docket No. 1127P017371-WO (PCT) extending across at least part of an opening of the container access bay. The one or more plates may rotationally cooperate with one or more rods, tabs, and / or other structure allowing the one or more plates to rotate about a rotational axis (e.g., secured with a base of the access bay by one or more clamps, pins, hinges, etc.). The plate may be generally flat such that while in the open position the at least one plate may be flush with the bottom of the container access bay 404 allowing a container 602 to enter or exit the container access bay 404. When moving from the open position to a closed position, such as the closed position depicted in Fig. 10B, the container interlock 1002 may rotate about an axis of rotation of the rod until the at least one plate is generally vertical and a barrier which prevents the container 602 from moving toward the robot interface and across the container interlock 1002 is created. The container interlock 1002 may be lifted, lowered, shifted, etc., to move from an open position to a closed position and / or from a closed position to an open position.

[0094]

[0085] Fig. 12 illustrates a simplified cross-sectional, side view of an exemplary drawer system 802e. The drawer system 802e can include one or more autonomous interlock systems 614a that are configured to lock the drawer system 802e in a closed state. A container can automatically deactivate the interlock system 614a in response to the presence the container in the drawer system 802e to cause the interlock system 614a to transition to an unlocked state enabling the drawer system to be moved to an open or extended state. The drawer system 802e can include one or more container interlock 1002a that can be configured to engage with a container when inserted in the drawer system 802e by the mobile robot. The container interlock 1002a controls a container detent 1203 that can engage the container when in the drawer system and maintain the container in the drawer system until deactivated by a mobile robot. The drawer system 802e may include one or more sliding mechanisms 1205, and typically a sliding mechanism on opposing sides of the drawer system enabling the drawer system to transition between the closed state and the open state.

[0095]

[0086] Fig. 13 illustrates a partially transparent, simplified perspective view of an exemplary container processing access bay 502 with an exemplary barrier system 410 comprising a door and / or flap 1302 pivotable within the container access bay 404. Figs. 14A and 14B illustrate different perspective views of an alternative exemplary container processing access bay 502. Figs 13-14B depict a barrier system 410 that may include a door and / or flap 1302 pivotable within a container processing access bay 502. The barrier system 410 with the flap 1302 may be Aty. Docket No. 1127P017371-WO (PCT) incorporated in one or more container access bays 404. Referring to at least Figs. 13-14B, the barrier system 410 may be positioned within the container processing access bay 502 (e.g., generally centered within the container processing access bay 502) and may be configured to pivot about a rotational axis, such as proximate an upper edge of the flap 1302 and / or alternate pivot location) as a container 602 moves through the container processing access bay 502. For example, with a container 602 entering a container processing access bay 502 in a direction 1303 (e.g., from the access face 406 toward the robot interface 408), the container 602 may engage with and push the flap 1302 causing the flap 1302 to rotate toward the robot interface 408 and away from the container 602 in the direction of travel of the container 602. The container processing access bay 502 may include one or more flap locking mechanisms 1304 that maintains a position of the flap 1302 until the container activates the flap locking mechanism(s) 1304 to release the flap 1302. For example, the flap locking mechanism 1304 may comprise one or more lateral container guides

[0096] 1305 or plates positioned on sides of the container processing access bay 502 with a lock recess

[0097] 1306 that is configured to engage the flap 1302 and prevent movement of the flap 1302 when engaged preventing access by a user through the container processing access bay 502 (or a container access bay 404). The container guides 1305 may be biased toward an interior or center axis of the container processing access bay and may comprise a contact extension 1308 that is configured to be engaged and / or contacted by the container 602 when moved into the container processing access bay 502. As the container is pushed into the container processing access bay, the container can push against the contact extension 1308 pushing against the biasing of the lateral container guide 1305 and cause at least the lock recess 1306 to move away from the flap 1302 enabling the flap 1302 to swing about a flap pivot axis 1310.

[0098]

[0087] As the container 602 continues to move through the container processing access bay 502 the flap 1302 swings up to allow the container to move toward the robot interface side 1312 of the container processing access bay 502. The container 602 may remain engaged with the flap 1302 until removed from the container processing access bay 502 at the robot interface 408 by a mobile robot. In some embodiments, the flap 1302 is a one way or unidirectional flap, such that the container 602 may only engage with and move the flap in a first direction, from the from the access face 406 toward the robot interface 408, or robot interface 408 to the access face 406. Movement of the flap 1302 in a second direction may be inhibited by the flap lock recess 1306, a pivot joint of the flap, and / or other such mechanisms, although the door may be capable of moving in a second Aty. Docket No. 1127P017371-WO (PCT) direction but inhibited by a physical barrier within the container processing access bay 502. An operator at the access face 406 may be unable to reach through the container processing access bay 502 past the flap 1302 as the flap 1302 may be configured only to move in the direction of travel from the access face 406 toward the robot interface 408. While the container 602 is within the container processing access bay, the container in cooperation with the flap 1302 can operate as part of the barrier system preventing access by a user through the container processing access bay 502. The door may be a two-way door and the container 602 may engage with and move the door from the access face 406 to the robot interface 408 and / or from the robot interface 408 to the access face 406.

[0099]

[0088] The container processing access bay 502 may include one or more container stops 1320 that prevent the container from being pushed beyond a threshold depth into the container processing access bay 502. This can, in at least part, prevent the container from interfering with the mobile robots 202 moving along the robot interface 408. The container stops 1320 may be biased in a direction away from the robot interface 408. The drawer systems 420 may provide access to the container while being transparent to robot operations. The container processing access bay 502, drawer system 420, and / or the robot interface 408 of the drawer system can maintain the sensing and mechanical features that allow the mobile robots 202 to perform container transfers while using the same transfer software, processing, and container transfer systems used to move the containers to and from storage locations, workstations and / or other such movement of containers to and from the mobile robot 202.

[0100]

[0089] Fig. 13 depicts the container processing access bay 502 with an exemplary container 602 positioned at an entry side of the container processing access bay 502. In Fig. 13, an arrow depicts the direction of travel of a container 602 through the container processing access bay 502. The container guides 1305 can be positioned at the side of the container processing access bay 502. The container guides 1305 may include a biased container stop element 1322 or member that allows the container 602 to enter the container processing access bay 502 in one direction, but prevents the container 602 from being removed at the same side (e.g., in the opposite direction). This can aid in preventing the container from moving away from the mobile robot 202 when engaged by a mobile robot via the robot interface. A user may be enabled to manually override the container stop element 1322, such as to manually push the container stop elements against the Aty. Docket No. 1127P017371-WO (PCT) biasing. There may be an additional biasing element and / or stop elements that restrict movement of the container 602 within the container processing access bay 502 other than in the direction of travel. The additional stop element may, for example, be a leaf spring (or other resilient member) configured to bias while engaged with a container 602 and restrict movement of the container 602 other than in the direction of travel.

[0101]

[0090] In Figs. 13-14B, the stop element, which prevents the container 602 from being removed via the same side that it was inducted into the container processing access bay 502, generally is tapered near the entry point of the container and widens in the direction of travel of the container 602. The wider side of the stop element may end with a flat ledge or hook, such that once the container 602 has surpassed the stop element, the container 602 will be unable to move past the ledge to be removed via the entry side of the container processing access bay 502. The element may be any suitable hook, ledge, or alternate configuration such that a container 602 can enter the container processing access bay 502 and pass the container guides 1305 from an entry side, but not be able to exit the container processing access bay 502 and pass the container guides 1305 via the entry side. One or more of the features of the container processing access bay 502 may similarly be incorporated into one or more of the container access bays 404 of a matrix 403.

[0102]

[0091] Fig. 15 illustrates a perspective view of an exemplary container processing access bay 502. The container processing access bay 502 can be configured to enable a container 602 to be inserted from the access face side of the container I / O interface system 112 to be integrated into the fulfillment system 100 (e.g., retrieved from the container processing access bay 502 by a mobile robot and moved to a storage location within the storage structure 204), and / or removed from the container I / O interface system 112. The container processing access bay 502 can include one or more barrier systems. For example, a barrier system can include a door 618a or other suitable blockage. The container processing access bay 502 may include one or more door locking systems (not visible in Figs. 14A or 14B), that can prevent the door 618a from being opened. The door locking system may be triggered in response to an authorized user triggering (e.g., scanning an associate identifier (e.g., bar code, QR code, RFID tag, etc.), key, access code entered (e.g., through a keypad, a portable user computing device, etc.), wirelessly triggered (e.g., Bluetooth triggered from a portable user computing device), triggered by the central control circuit, triggered by another control system in communication with the container VO interface system 112, and / or Aty. Docket No. 1127P017371-WO (PCT) other such triggering), which can enable a user to retrieve a container and / or insert a container. Additionally or alternatively (e.g., optionally), one or more autonomous interlock systems and / or container locking systems may be included in the container processing access bay 502, that prevent movement of a container in one or both directions. Such container locking systems may be triggered to transition between the locked state and / or unlocked state similar to one or more of the triggering described above and / or further below. One or more of the container processing access bays 502 may be a unidirectional access bay that restricts movement of containers to a single direction (e.g., one or more restrictions, triggers, locking systems and / or other features may limit movement). One or more other container processing access bays 502 may be bidirectional allowing containers to move in both directions. Although not illustrated in Figs. 14A or 14B, the container processing access bay 502 may include other features, such as one or more features described above in relation to the container processing access bay described in relation to Figs. 13-14B, such as the barrier system and / or flap 1302, lateral container guides 1305, one or more container stops 1320 and / or other such feature. Additionally or alternatively (e.g., optionally), the container processing access bay 502 may include other features described above in relation to the embodiments of the access bays 404.

[0103]

[0092] Fig. 16 illustrates a simplified flow diagram of an exemplary process 1600 of controlling inventory in a retail fulfillment system. Generally, the process 1600 is used in a retail fulfillment system, such as the order fulfillment system 100, and may utilize components of the order fulfillment system 100 and the container I / O interface system 112. In step 1602, the retail fulfillment system receives orders for fulfillment. Each of the orders typically requests one or more products. The orders may, for example, be requested by a user via a user interface such as the user computing systems 120.

[0104]

[0093] In step 1604, the central control circuit 102 and / or other control system of the retail fulfillment system controls mobile robots 202 to each travel through one or more storage structures 204, which includes a plurality of levels 208, and aisles extending along each of the levels. The mobile robots 202 can be autonomous robots that control their movements through the storage structure and may travel to retrieve containers 602 from one or more locations within the fulfillment facility, including at least from a respective container storage location of a plurality of container storage locations positioned along each of the aisles. Generally, each container is Aty. Docket No. 1127P017371-WO (PCT) configured to contain at least one of one or more products. In step 1606, the central control circuit 102 may direct one or more of the mobile robots to move laterally along the aisles and vertically through the storage to a container I / O interface system 112.

[0105]

[0094] The process may include step 1608, where at least one mobile robot is directed to move vertically between the plurality of rows 402 of the matrix 403 of container access bays 404 (and / or container processing access bays 502) to align with an intended row. In step 1610, a mobile robot of the mobile robots can be directed to move along the intended row 402, of the matrix 403 of container access bays 404 of the container I / O interface system 112, and deliver a first container 602, of the plurality of containers, to an intended container access bay 404 through the robot interface. The container I / O interface system 112 may include a plurality of rows 402 that are vertically separated, and each of the plurality of rows may include a plurality of container access bays 404 spaced along a length of a respective row. The container access bays may further be positioned between an access face 406 and a robot interface 408, such that a container be delivered to a container access bay 404 through the robot interface 408. The directing of the mobile robots to move along an intended row can comprise directing one or more mobile robots to move laterally along a first pair of interface rails 612, of a plurality of vertically separated pairs of interface rails each extending along the length of a respective one of the plurality of rows, to align with the intended container access bay 404.

[0106]

[0095] In step 1612, an autonomous interlock system, which can be separate from the mobile robots, can be activated in response to a presence of a first container, of the containers, at the respective one of the container access bays to cause a barrier system to transition to an access state enabling access by an operator through the access face to the first container. The barrier system of the container I / O interface system 112 may prevent a user from reaching from the access face 406 and through a respective one of the container access bays 404 to the robot interface 408. A user may be prevented from reaching through the respective one of the container access bays when the autonomous interlock system is in a non-access state. The preventing of reaching through can comprise maintaining a container in the respective container access bay where the container forms part of the barrier system preventing the reaching through the container access bay while the container is positioned in the container access bay. Step 1614 may be included, where a movement of one or more containers 602, of the plurality of containers, is restricted to a unidirectional Aty. Docket No. 1127P017371-WO (PCT) movement in a first direction through a first container access bay 404, and preventing movement of the one or more containers in a second direction opposite the first direction. The process 1600 may include step 1616 where one or more containers 602 can be inducted into the fulfillment system 100. The induction can comprise receiving a container at a unidirectional container induction bay 502 of the matrix 403, while preventing containers from being transferred through the unidirectional container induction bay 502 from the robot interface to the access face, and directing a mobile robot to retrieve the inducted container from the unidirectional container induction bay through the robot interface 408. Induction of containers may be enabled through bidirectional container access bays. The induction of a container can include the central control circuit directing a mobile robot 202 to retrieve a container that is inserted into the container access bay and / or induction bay, and directed to route through the container I / O interface system 112 and to an intended location within the fulfillment facility, such as one of the container storage locations within the storage structure 204, a workstation 206-207 (e.g., when the container includes an item intended for an order being assembled at the workstation), a pallet assembly location, other such locations or a combination of two or more locations (e.g., when the container includes a plurality of items intended for different locations). One or more of the steps of the process 1600 can be repeated one or more times and / or one or more of the steps may be skipped. Further, the order of the steps may be altered depending on an intended implementation.

[0107]

[0096] Utilization of the barrier system in preventing a user from reaching through the container access bay 404 can comprise activating a trigger system in response to a container being positioned within a respective container access bay. The trigger system can trigger or activate, in response to the container being positioned within the container access bay, a locking system between locked and unlocked states. For example, the trigger system may trigger the locking system to an unlocked state and enable access, through the access face 406, to a first container positioned within a first container access bay. The trigger system can be deactivated in response to the first container being removed from the first container access bay, and can trigger the locking system, based on the trigger system being deactivated, to be in a locked state.

[0108]

[0097] Additionally or alternately (e.g., optionally), utilizing the barrier system can activate a trigger system in response to the first container being positioned at the first container access bay, and trigger, by the trigger system in response to activation of the trigger system, a first door locking Aty. Docket No. 1127P017371-WO (PCT) system of the first container access bay to be in an unlocked state enabling a first door to open. Deactivation of the trigger system may occur in response to the first container being removed from the first container access bay which triggers the trigger system such that the first door locking system is in a locked state preventing the opening of the first door.

[0109]

[0098] The preventing of a user from reaching from the access face 406 and through a container access bay 404 can comprise maintaining a first container in the container access bay as part of the barrier system. The process 1600, in directing the delivery of a container to an intended container access bay 404, can comprise directing the mobile robot to deposit the first container into a drawer system 802 secured with the container access bay and enabling the drawer system to be extended from the access bay. The drawer system may include a container receiving interface configured to receive and position the first container of the containers. An extending system, of the container access bay, may be provided and may be enabled to extend from a retracted state to an extended state. In the retracted state, the first container is positioned within the first container access bay between the access face and the robot interface. In the extended state the extending system is extended out from the access face and exposing at least apportion of the container position within the drawer system outside of the access face.

[0110]

[0099] The directing the mobile robots 202 to the robot interface as described in process 1600 may include directing each of the mobile robots to one of a plurality of interface rails 612, and / or pairs of interface rails, each corresponding to one of the plurality of rows of the matrix of container access bays which extend along the container access bays of a respective row. The mobile robots 202 may be directed to travel along a respective one of the pairs of interface rails 612 as the mobile robots 202 move to position a respective container adjacent an intended one of the container access bays of the respective row. Directing each of the mobile robots to one of the plurality of pairs of interface rails 612 may include directing the first mobile robot to vertically climb a first matrix vertical track extending between the pairs of interface rails to the first row of the plurality of rows.

[0111]

[0100] The process 1600 may include inducting a container. The induction may include receiving the container at a unidirectional container induction bay of the matrix, while preventing a container from being transferred through the unidirectional container induction bay from the robot interface Aty. Docket No. 1127P017371-WO (PCT) to the access face. A mobile robot may be directed to retrieve the inducted container from the unidirectional container induction bay through the robot interface.

[0112]

[0101] Fig. 17 illustrates a simplified flow diagram of an exemplary induction process 1700 of an operator loading a container 602 into a container access bay 404 in a retail fulfillment system 100. Generally, the process 1700 is used in a retail system, such as the order fulfillment system 100, inventory distribution center, and / or other systems and / or facilities, and may utilize components of the order fulfillment system 100 and the container I / O interface system 112 referenced herein. For example, the process 1700 may utilize the locking system 900, the container interlock 1002, and the drawer interlock 905 of container access bays 404 as described herein.

[0113]

[0102] At step 1702, a container access bay 404 is in an empty state. A container access bay 404 may include an outer lock on a side of the container access bay 404 adjacent an access face 406, an inner lock on a side of the container access bay 404 adjacent a robot interface 408, and a door lock of a door (such as described herein) on the side of the container access bay 404 adjacent the access face 406. The empty state occurs when there are no containers 602 within the container access bay 404, and typically no container sensors are triggered. The container access bay 404 may include one or more sensors, such as an outer sensor on the side of the container adjacent the container access bay 404, an inner sensor on the side of the container access bay 404 adjacent the robot interface 408, an RFID reader and / or other sensors. The outer lock and the inner lock of the container access bay 404 may each be in an open state, and the door of the container access bay 404 may be closed (e.g., a door latch is in a closed state). The door may be locked and / or latched closed to protect and prevent an operator from reaching into the path of moving mobile robots 202 while no container is present within the container access bay.

[0114]

[0103] At step 1704, a container 602 is detected at an induction container access bay 404, such as in response to an operator pushing a container into the container access bay from the access face. One or more outer sensors, trigger systems and / or container RFID reader may detect the presence of the container as the container is positioned adjacent to and / or moved into the container access bay. The door can be in an unlatched state (e.g., in response to a user opening the door and / or a container I / O interface control circuit controlling the latch in response to detecting the container). Typically, the inner lock remains closed and an outer lock and the door lock are in an open state. Aty. Docket No. 1127P017371-WO (PCT)

[0115] At this point, the door may be pushed open by a leading end of the container, and the leading end of the container may form a barrier that prevents the operator from reaching into the system while the door is in an open state.

[0116]

[0104] The process 1700 can transition to step 1706 in response to the container being moved further into the container access bay and / or the system triggering inner sensors. At this point, the container is loaded into the container access bay, and the inner and outer locks and the door lock are closed.

[0117]

[0105] At step 1708, the central control circuit 102 receives a notification from the container I / O interface system 112 of the incoming container, and directs a mobile robot 202 to align with the container access bay. The process 1700 may advance to step 1710 in response to the mobile robot 202 arriving to pick up the container via a robot interface 408. The inner lock is typically open, which may be triggered by the mobile robot 202 and / or in response to a detection by a robot sensor of the container I / O interface system detecting the presence of the mobile robot 202. The mobile robot 202 can engage the container and remove the container from the container access bay 404 via the robot interface 408 and can transport the container to an intended location. After removal of the container, the sensors clear and the door closes (e.g., door springs closed) and the door may latch, with the container access bay 404 in the empty state.

[0118]

[0106] Fig. 18 illustrates a simplified flow diagram of an exemplary container loading process 1800 of a mobile robot 202 loading a container 602 into a container access bay 404. Generally, the process 1800 is used in a retail fulfillment system, such as the order fulfillment system 100, and may utilize components of the order fulfillment system 100 and the container I / O interface system 112 referenced herein.

[0119]

[0107] At step 1802, a container access bay 404 is in an empty state. The container access bay 404 may include an outer lock on a side of the container access bay 404 adjacent an access face 406, an inner lock on a side of the container access bay 404 adjacent a robot interface 408, and a door lock of a door (such as described herein) on the side of the container access bay 404 adjacent the access face 406. The empty state occurs when there are no containers 602 within the container access bay 404, and no sensors triggered. The container access bay 404 may include an outer sensor on the side of the container adjacent the container access bay 404, an inner sensor on the Aty. Docket No. 1127P017371-WO (PCT) side of the container access bay 404 adjacent the robot interface 408, and a container RFID reader. In the empty state, the outer lock and the inner lock of the container access bay 404 may each be open, and the door of the container access bay may be locked. The door may be locked and / or latched closed to protect and prevent an operator from reaching into the path of moving mobile robots 202 while no container is present within the container access bay 404.

[0120]

[0108] Step 1804 may be included, where the mobile robot 202 is detected and / or the container is detected at the robot interface 408 side of the container access bay 404. In step 1806, a mobile robot 202 can push a container 602 into the container access bay 404 via the robot interface 408, and inner sensors and / or trigger systems may be triggered. Upon triggering the inner sensors, the door unlatches such that the outer lock is closed while the inner lock and door lock are open. At this point, the door can be pushed open by a leading end of the container, and the leading end of the container forms a barrier which prevents an operator from reaching into the system.

[0121]

[0109] At step 1808, the container is pushed further into the container access bay 404 and outer sensors are triggered. Following the triggering of the outer sensors, the inner lock and door lock close, while the outer lock opens. An operator may then extract the tote via the access face 406 of the container access bay 404. After the removal of the container from the container access bay 404, the sensors clear and the door springs closed and latches. The container access bay 404 may now re-enter the empty state described above.

[0122]

[0110] The container loading process 1800 may a passive process without sensors, with a container functioning like a key to a mechanical lock. The door may automatically lock upon closing to prevent entry until subsequently unlocked (e.g., insertion of a container, user activates to unlock, etc.). For example, the door may only subsequently unlatch and / or unlock once another container is in place to act as a barrier to entry and / or as part of the barrier system.

[0123]

[0111] The circuits, circuitry, systems, devices, processes, methods, techniques, functionality, services, servers, sources and the like described herein may be utilized, implemented and / or run on many different types of devices and / or systems. Fig. 19 illustrates an exemplary system 1900 that may be used for implementing any of the components, circuits, circuitry, systems, functionality, apparatuses, processes, or devices of the order fulfdlment system 100 of Fig. 1, and / or other above or below mentioned systems or devices, or parts of such circuits, circuitry, Aty. Docket No. 1127P017371-WO (PCT) functionality, systems, apparatuses, processes, or devices. For example, the system 1900 may be used to implement some or all of the one or more product assignment systems 106, the one or more product ordering systems 110, the one or more product retrieval systems 114, the one or more product distribution systems 116, the one or more inventory systems 118, the central control circuit 102, a container I / O interface control circuit, a container access bay control circuit, user computing systems 120, and / or other such components, circuitry, functionality and / or devices. However, the use of the system 1900 or any portion thereof is certainly not required.

[0124]

[0112] By way of example, the system 1900 may comprise one or more control circuits or processor modules 1912, one or more memory 1914, and one or more communication links, paths, buses or the like 1918. One or more user interfaces 1916, and / or one or more internal and / or external power sources or supplies 1940 may be included. The control circuit 1912 can be implemented through one or more processors, microprocessors, central processing unit, logic, local digital storage, firmware, software, and / or other control hardware and / or software, and may be used to execute or assist in executing the steps of the processes, methods, functionality and techniques described herein, and control various communications, decisions, programs, content, listings, services, interfaces, logging, reporting, etc. The control circuit 1912 may be be part of control circuitry and / or a control system 1910, which may be implemented through one or more processors with access to one or more memory 1914 that can store instructions, code and the like that is implemented by the control circuit and / or processors to implement intended functionality. The control circuit and / or memory may be distributed over a communications network (e.g., LAN, WAN, Internet, etc.) providing distributed and / or redundant processing and functionality. Again, the system 1900 may be used to implement one or more of the above or below, or parts of, components, circuits, systems, processes and the like. For example, the system may implement the one or more container I / O interface systems 112 with the control circuit being the container I / O interface control circuit, workstations 206-207, mobile robots 202, product assignment systems 106 with the control circuit being a product assignment control circuit, the one or more product ordering systems 110 with the control circuit being a product ordering control circuit, the one or more product retrieval systems 114 with the control circuit being a product retrieval control circuit, the one or more product distribution systems 116 with the control circuit being a product distribution control circuit, the inventory system 118 with an inventory system control circuit, or other components. Aty. Docket No. 1127P017371-WO (PCT)

[0125]

[0113] The user interface 1916 can allow a user to interact with the system 1900 and receive information through the system. The user interface 1916 may include a display 1922 and / or one or more user inputs 1924, such as buttons, touch screen, track ball, keyboard, mouse, etc., which can be part of or wired or wirelessly coupled with the system 1900. The system 1900 may include one or more communication interfaces, ports, transceivers 1920 and the like allowing the system 1900 to communicate over a communication bus, a distributed computer and / or communication network 108 (e.g., a local area network (LAN), the Internet, wide area network (WAN), etc.), communication link 1918, other networks or communication channels with other devices and / or other such communications or combination of two or more of such communication methods. The transceiver 1920 can be configured for wired, wireless, optical, fiber optical cable, satellite, or other such communication configurations or combinations of two or more of such communications. One or more input / output (I / O) ports 1934 may be provided and be configured to allow one or more devices to couple with the system 1900. The I / O ports can be substantially any relevant port or combinations of ports, such as but not limited to USB, Ethernet, or other such ports. The I / O interface 1934 can be configured to allow wired and / or wireless communication coupling to external components. For example, the I / O interface can provide wired communication and / or wireless communication (e.g., Wi-Fi, Bluetooth, cellular, RF, and / or other such wireless communication), and may include any known wired and / or wireless interfacing device, circuit and / or connecting device, such as but not limited to one or more transmitters, receivers, transceivers, or combination of two or more of such devices.

[0126]

[0114] The system 1900 may include one or more sensors 1926 to provide information to the system 1900 and / or sensor information that is communicated to another component, such as the trigger system, the locking system, etc. described herein. The sensors can include substantially any relevant sensor, such as distance measurement sensors (e.g., optical units, sound / ultrasound units, etc.), optical-based scanning sensors to sense and read optical patterns (e.g., bar codes), radio frequency identification (RFID) tag reader sensors capable of reading RFID tags in proximity to the sensor, and other such sensors. The foregoing examples are intended to be illustrative and are not intended to convey an exhaustive listing of all possible sensors. Instead, it will be understood that these teachings will accommodate sensing any of a wide variety of circumstances in a given application setting. Aty. Docket No. 1127P017371-WO (PCT)

[0127]

[0115] The system 1900 comprises an example of a control and / or processor-based system with the control circuit 1912. Again, the control circuit 1912 can be implemented through one or more processors, controllers, central processing units, logic, software and the like. The control circuit 1912 may provide multiprocessor functionality.

[0128]

[0116] The memory 1914, which can be accessed by the control circuit 1912, may include one or more processor-readable and / or computer-readable media accessed by at least the control circuit 1912, and can include volatile and / or nonvolatile media, such as RAM, ROM, EEPROM, flash memory and / or other memory technology. The memory 1914 is shown as internal to the control system 1910; however, the memory 1914 can be internal, external or a combination of internal and external memory. Similarly, some or all of the memory 1914 can be internal, external or a combination of internal and external memory of the control circuit 1912. The external memory can be substantially any relevant memory such as, but not limited to, solid-state storage devices or drives, hard drive, one or more of universal serial bus (USB) stick or drive, flash memory secure digital (SD) card, other memory cards, and other such memory or combinations of two or more of such memory, and some or all of the memory may be distributed at multiple locations over the computer network 108. The memory 1914 can store code, software, executables, scripts, data, content, lists, programming, programs, log or history data, user information, customer information, product information, and the like. While Fig. 19 illustrates the various components being coupled together via a bus, it is understood that the various components may actually be coupled to the control circuit and / or one or more other components directly.

[0129]

[0117] As described herein, retail fulfillment systems are provided, and include: a storage structure comprising: a plurality of levels that are vertically separated; and aisles extending along each of the plurality of levels, wherein each aisle of the aisles comprises a plurality of container storage locations configured to receive and temporarily store a container; a plurality of mobile robots configured to move laterally along the aisles and vertically through the storage structure to deposit and retrieve containers to and from the plurality of container storage locations; and a container input / output (I / O) interface system comprising: an access face; a robot interface; and a matrix of container access bays comprising a plurality of rows that are vertically separated, wherein each of the plurality of rows comprises a plurality of container access bays spaced along a length of a respective row, and wherein the container access bays of the matrix are positioned between the Aty. Docket No. 1127P017371-WO (PCT) access face and the robot interface, wherein the plurality of mobile robots are configured to deliver and retrieve the containers to and from the container access bays through the robot interface; wherein each of the container access bays comprises an autonomous interlock system that is activated, separate from the mobile robots, in response to a presence of a first container, of the containers, at the respective one of the container access bays to cause a barrier system to transition to an access state enabling access by an operator through the access face to the first container. The barrier system can be positioned to inhibit, in cooperation with the access face, a user reaching from the access face and through a respective one of the container access bays to the robot interface.

[0130]

[0118] The present disclosure provides for methods of controlling inventory in a retail fulfillment system. The methods comprising: receiving orders for fulfillment through a fulfillment facility, wherein each of the orders is requesting one or more products; controlling mobile robots to each travel through a storage structure comprising a plurality of levels and aisles extending along each of the plurality of levels to retrieve a respective container from a container storage location of a plurality of container storage locations positioned along each of the aisles, wherein each of the plurality of container storage locations is configured to store one of a plurality of containers and each of the plurality of containers is configured to contain at least one of the one or more products; directing the mobile robots to move laterally along the aisles and vertically through the storage structure to a container input / output (I / O) interface system; directing a first mobile robot, of the mobile robots, to move along a first row of a matrix of container access bays, of the container I / O interface system comprising a plurality of rows that are vertically separated, wherein each of the plurality of rows comprises a plurality of container access bays spaced along a length of a respective row, and wherein the container access bays of the matrix are positioned between an access face and a robot interface; and to deliver a first container, of the plurality of containers, to a first container access bay of the container access bays through the robot interface; and activating an autonomous interlock system, which can be separate from the mobile robots, in response to a presence of a first container, of the containers, at the respective one of the container access bays to cause a barrier system to transition to an access state enabling access by an operator through the access face to the first container. The methods may include preventing, by a barrier system of the container I / O interface system, a user from reaching from the access face and through a respective one of the container access bays to the robot interface. Aty. Docket No. 1127P017371-WO (PCT)

[0131]

[0119] the present disclosure provides for systems and methods for a high throughput container and / or tote I / O interface systems that enable operators to more readily access containers within a robotic container storage and transport system used to store and retrieve containers within a retail facility and / or other fulfillment facilities. The container storage and transport system provides numerous different aisles and multiple levels on each aisle where containers containing one or more items are temporarily retained. Automated mobile robots retrieve and transport containers to and from storage locations within the storage and transport system in order to fulfill orders. The container I / O interface systems can provide an interface between the operators and the storage system to enhance access to retrieve items and / or input items in fulfilling an order and / or inputting items into the storage and transport system. The container I / O interface system can enhance throughput in part through multiple rows each with multiple container access bays (e.g., drawers, doors, etc.), while increasing operator safety that inhibits or prevents a user from reaching back into and through the interface system where they may get injured through interaction with automated or powered points inside the system. For example, the container I / O interface system in some embodiments includes three or more vertical levels each with four, five, seven or more tote access bays. The interior or backside of the container I / O interface system provides at least one robot interface with a pair of interface rails, which are typically horizontal, along each of the multiple rows of tote access bays. This layout allows for simultaneous traffic of multiple mobile robots on the interior or backside of the container I / O interface system to each of the multiple levels of the container I / O interface system. This simultaneous access to numerous different container access bays greatly increases potential throughput of items.

[0132]

[0120] As described herein, the container access bays can be configured with safety features and / or functions. For example, a door cannot be opened unless a container is present in the container access bay. The container can trigger one or more latches, locks and / or other mechanisms that enable a door, drawer, tilt mechanism and / or other such access system to be opened and at least enable access to an interior of the container, and in some instances to remove a container. While present in a container access bay, the container can (as described herein) further act as at least part of a barrier system that inhibits or prevents an operator from reaching through the container access bay to the interior and / or robot interface. The container I / O interface system may use a passive mechanical interlock that restricts movement in one or more of the container access bays to only allowing unidirectional movement of containers, for example, which may allow for Aty. Docket No. 1127P017371-WO (PCT) only removing containers, or only inducting containers. Tilting of the containers may be provided (as described herein) to enhance accessibility by an operator to an interior of the containers and / or an item within the containers, while the container and / or additional structures may prevent access into and through the container access bays. One or more of the container I / O interface systems may include sensors to sense if the interface is currently being used, and a communication device to indicate if the interface is currently being used. There may be inner sensors and outer sensors in a container I / O interface system to detect a container at different stages of insertion or removal of the system. The communication device may also communicate container drawer contents, order identifiers, etc. The storage structures and / or system can include rails accessible by the mobile robots to move vertically and horizontally throughout the storage structure as the mobile robots engage and disengage with containers.

[0133]

[0121] The container I / O interface system may be configured through a modular design to enable different container I / O interface systems to be assembled in different locations in accordance with available space, predicted throughput, intended number of operators to be able to simultaneously utilize the container I / O interface system, and / or other such factors. The container I / O interface system can modularly include substantially any number of container access bays and / or rows of container access bays, while the robot interface is readily cooperated to enable robot compatibility and multiple paths to each container access bay. Similarly, the container I / O interface systems and / or container access bays can be configured and / or adjusted based on an intended container height and / or width. The container access bays 404 and / or drawer systems can be installed and / or replace individually and / or are scalable. The container I / O interface system addresses a need for additional I / O interfaces with added modularity and flexibility to manage processing at container level and bag / item level. The barrier system or systems may provide for improved system safety that can reduce or eliminate potential pinch points and automation access. The container I / O interface systems facilitate asynchronous material processing to tolerate unpredictable order pickup. Simplified asynchronous ingress and egress of containers to and from the fulfillment system 100 may be provided by the present disclosure. The container I / O interface may enable management of multiple product channels, for example grocery and general merchandise, in satisfying orders and / or to move to customers. The access to containers may enable simplified consolidation of items and can allow for reduced or minimized inventory, waiting, transportation and overprocessing. The container I / O interface system may provide improved total store level Aty. Docket No. 1127P017371 -WO (PCT) labor per order operations by in part enabling increased access to items and simplified consolidation of items in assembling an order. These enhancements may improve the associate and customer experiences. The container I / O interface systems provide improvements in system operability by in part minimizing risks associated with automation. The container I / O interface systems can provide better workflows and with fewer touches that can help in maximizing the value of associates and provide better customer experiences. Typically, the container I / O interface systems provide improved container volume utilization for order containers, which may allow for total system size optimization improving access to stores with more favorable automation footprints. The modularity may enable for more granular I / O configurations enhancing the ability to right size facilities and reducing the overall minimum system perimeter size.

[0134]

[0122] The present disclosure provides for the container access bays being accessed by mobile robots from a backside, and be accessed by operators from a front side to enhance throughput. The system(s) described herein provide(s) features that can prevent operators from reaching through the container access bays to the mobile robots and automation systems. This allows the high throughput container I / O interface system to be positioned within numerous different environments, including environments such as but not limited to fulfillment centers, warehouses, manufacturing facilities, retail stores and / or such environments, and can be used by substantially operator while still providing safety for the operator, including young and / or unexperienced operators. The container I / O interface systems facilitate asynchronous material processing to tolerate unpredictable order pickup. The system can further be operated as unidirectional to ensure accurate movement to and from the I / O module.

[0135]

[0123] It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the present disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances that fall within the scope of any claims appended hereto. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the present disclosure.

[0136]

[0124] What is claimed is:

Claims

1. Aty. Docket No. 1127P017371-WO (PCT)CLAIMS1. A retail fulfillment system, comprising: a storage structure comprising: a plurality of levels that are vertically separated; and aisles extending along each of the plurality of levels, wherein each aisle of the aisles comprises a plurality of container storage locations configured to receive and temporarily store at least one of the containers; a plurality of mobile robots configured to move laterally along the aisles and vertically through the storage structure to deposit and retrieve containers to and from the plurality of container storage locations; and a container input / output (I / O) interface system comprising: an access face; a robot interface; and a matrix of container access bays comprising a plurality of rows that are vertically separated, wherein each of the plurality of rows comprises a plurality of container access bays spaced along a length of a respective row, and wherein the container access bays of the matrix are positioned between the access face and the robot interface, wherein the plurality of mobile robots are configured to deliver and retrieve the containers to and from the container access bays through the robot interface; wherein each of the container access bays comprises an autonomous interlock system that is activated, separate from the plurality of mobile robots, in response to a presence of a container, of the containers, at the respective one of the container access bays to cause a barrier system to transition to an access state enabling access by an operator through the access face to the container.

2. The retail fulfillment system of claim 1, wherein the robot interface comprises a plurality of vertically separated pairs of interface rails each extending along the length of the respective rowAty. Docket No. 1127P017371-WO (PCT) configured to enable the plurality of mobile robots to travel along the container I / O interface system to align with one of the container access bays of the matrix.

3. The retail fulfillment system of claim 1, further comprising the barrier system that is configured to restrict unidirectional movement of the container to a first direction through the container access bays and prevent movement of the container in a second direction opposite the first direction.

4. The retail fulfillment system of claim 1, further comprising the barrier system, wherein the container forms part of the barrier system when the container is positioned in the respective container access bay.

5. The retail fulfillment system of claim 4, wherein each container access bay comprises: a locking system that transitions between a locked state, preventing access to an interior of the respective container access bay, and an unlocked state enabling access, through the access face, to the respective container access bay; and a trigger system cooperated with the locking system, wherein the trigger system is activated, in response to the container being positioned at the respective container access bay, triggering the locking system to be in the unlocked state; and wherein the trigger system is deactivated, in response to a lack of the container being positioned in the respective container access bay, triggering the locking system to be in the locked state.

6. The retail fulfillment system of claim 4, wherein one or more of the barrier system each comprise: a door cooperated with the access face; a door locking system that transitions between a locked state, preventing opening of the door, and an unlocked state enabling the door to open; and a trigger system configured to be activated, in response to the container being positioned at the respective container access bay, triggering the door locking system to be in the unlocked state; andAty. Docket No. 1127P017371-WO (PCT) wherein the trigger system is configured to be deactivated, in response to a lack of the container being positioned in the respective container access bay, triggering the door locking system to be in the locked state.

7. The retail fulfillment system of claim 4, wherein two or more of the container access bays each comprises: a drawer system comprising a container receiving interface configured to receive and position the container, and wherein the drawer system comprises an extending system having an extended state extending out from the access face such that at least a portion of the container positioned within the drawer system is exposed outside of the access face, and a retracted state where the container is positioned within the respective one of the two or more container access bays between the access face and the robot interface.

8. The retail fulfillment system of claim 1, wherein the robot interface further comprises: a plurality of interface rails each corresponding to one of the plurality of rows of the matrix of the container access bays and extend along the plurality of container access bays of the respective row; and wherein each of the plurality of interface rails is configured to support one or more of the plurality of mobile robots as the plurality of mobile robots move to a position adjacent an intended one of the plurality of container access bays of the respective row.

9. The retail fulfillment system of claim 8, wherein the robot interface further comprises: a first matrix vertical track extending between of the plurality of interface rails and configured to enable the plurality of mobile robots to climb to an intended one of the plurality of rows.

10. The retail fulfillment system of claim 1, wherein the container access bays of the matrix comprise a unidirectional container induction bay, wherein a respective barrier system of the unidirectional container induction bay restricts movement of the containers to receiving the container from the access face into the unidirectional container induction bay and accessible from the robot interface, and preventing the container from being transferred from the robot interface to the access face.Aty. Docket No. 1127P017371-WO (PCT)11. A method of controlling inventory in a retail fulfillment system, comprising: receiving orders for fulfillment through a fulfillment facility, wherein each of the orders is requesting one or more products; controlling mobile robots to each travel through a storage structure comprising a plurality of levels and aisles extending along each of the plurality of levels to retrieve a respective container from a container storage location of a plurality of container storage locations positioned along each of the aisles, wherein each of the plurality of container storage locations is configured to store one of a plurality of containers and each of the containers of the plurality of containers is configured to contain at least one of the one or more products; directing the mobile robots to move laterally along the aisles and vertically through the storage structure to a container input / output (I / O) interface system; directing a first mobile robot, of the mobile robots, to move along a first row of a matrix of container access bays, of the container I / O interface system comprising a plurality of rows that are vertically separated, wherein each of the plurality of rows comprises a plurality of container access bays spaced along a length of a respective row, and wherein the container access bays of the matrix are positioned between an access face and a robot interface; and to deliver a container, of the plurality of containers, to a first container access bay of the container access bays through the robot interface; and activating an autonomous interlock system, which can be separate from the mobile robots, in response to a presence of a first container, of the containers, at the respective one of the container access bays to cause a barrier system to transition to an access state enabling access by an operator through the access face to the first container.

12. The method of claim 11, further comprising: directing the mobile robots to move vertically between the plurality of rows to align with the first row; and wherein the directing the mobile robots to move along the first row comprises directing the mobile robots to move laterally along a first pair of interface rails, of a plurality of vertically separatedAty. Docket No. 1127P017371-WO (PCT) pairs of interface rails each extending along the length of a respective one of the plurality of rows, to align with the first container access bay.

13. The method of claim 11, further comprising: restricting unidirectional movement of a second container, of the plurality of containers, to a first direction through the first container access bay and preventing movement of the second container in a second direction opposite the first direction.

14. The method of claim 11, further comprising: preventing, when the an autonomous interlock system is in a non-access state, a user from reaching through the respective one of the container access bays comprises maintaining the first container in the first container access bay wherein the first container forms part of the barrier system preventing the reaching through the first container access bay while the first container is positioned in the first container access bay.

15. The method of claim 14, further comprising: activating a trigger system in response to the first container being positioned in the first container access bay; triggering, by the trigger system in response to the first container being positioned in the first container access bay, a locking system to an unlocked state and enabling access, through the access face, to the first container positioned within the first container access bay; deactivating the trigger system in response to the first container being removed from the first container access bay; and triggering the locking system, by the trigger system being deactivated, to be in a locked state.

16. The method of claim 14, further comprising: activating a trigger system in response to the first container being positioned at the first container access bay;Aty. Docket No. 1127P017371-WO (PCT) triggering, by the trigger system in response to the activating the trigger system, a first door locking system of the first container access bay to be in an unlocked state enabling a first door to open; deactivating the trigger system in response to the first container being removed from the first container access bay; and triggering, by the trigger system in response to the deactivating the trigger system, the first door locking system to be in a locked state preventing opening of the first door.

17. The method of claim 14, wherein the directing the delivery of the first container to the first container access bay, comprises: depositing, by the first mobile robot, the first container into a drawer system secured with the first container access bay, wherein the drawer system comprises a container receiving interface configured to receive and position the first container; and enabling, in response to the first container being deposited into the drawer system, an extending system of the first container access bay to extend, from a retracted state where the first container is positioned within the first container access bay between the access face and the robot interface, to an extended state extending out from the access face and exposing at least a portion of the first container, positioned within the drawer system, outside of the access face.

18. The method of claim 11, wherein the directing the mobile robots to the robot interface further comprises: directing each of the mobile robots to one of a plurality of interface rails, each corresponding to one of the plurality of rows of the matrix of the container access bays and extend along the container access bays of the respective row, and to travel along the respective one of the plurality of interface rails as the mobile robots move to position a respective container adjacent an intended one of the plurality of container access bays of the respective row.

19. The method of claim 18, wherein the directing each of the mobile robots to one of the plurality of interface rails comprises:Aty. Docket No. 1127P017371-WO (PCT) directing the first mobile robot to vertically climb a first matrix vertical track extending between the plurality of interface rails to the first row of the plurality of rows.

20. The method of claim 11, further comprising: inducting a second container comprising: receiving the second container at a unidirectional container induction bay of the matrix, while preventing a third container from being transferred through the unidirectional container induction bay from the robot interface to the access face; and directing a second mobile robot to retrieve the second container from the unidirectional container induction bay through the robot interface.

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