A multi-level picking station

Abstract

A multi-level order fulfillment workstation (100, 200, 300, 600) such as a person-to-good (PTG) picking station having at least two sub-stations (102, 104, 202, 204, 302, 304, 602, 604) that are vertically separated from one another, each with a plurality of storage locations (103, 203, 303, 603) for goods, and including a plurality of robots (106, 607) configured to operate at the workstation (100, 200, 300, 600) and one or more unpowered vertical travel supports (120, 120', 220, 220, 320, 320', 620, 620', 720) disposed between the at least two sub-stations (102, 104, 202, 204, 302, 304, 602, 604). The robots (106, 607) are configured to support totes (113) and traverse the vertical travel supports (120, 120', 220, 220, 320, 320', 620, 620', 720) under their own power for operating at each of the sub-stations (102, 104, 202, 204, 302, 304, 602, 604).

Description

RAP04 FP-854(WO)A MULTI-LEVEL PICKING STATIONBACKGROUND AND TECHNICAL FIELD

[0001] The disclosure relates generally to an access system for a person-to-good (PTG) picking station.

[0002] Unless otherwise indicated herein, the materials described in this section are not prior art to the claims in this application and are not admitted to the prior art by inclusion in this section.

[0003] Material handling systems for warehouses, distribution centers, supply chain centers, order-fulfillment facilities, and the like, commonly handle articles, such as items, products, packages, boxes, bins, and so forth, having varying shapes, sizes, weights, and dimensions.

[0004] Increasing usage of the vertical space in a site, such as a warehouse, a distribution center, a supply chain center, an order-fulfillment facility is one way with which to increase the usage capacity and / or available resources of the site. Such facilities may utilize an automated conveyor coupled between sections. However, such configurations can result in sites with larger physical footprints and thereby increase the space requirement for individual work stations. Moreover, the cost of having additional robots required for dedicate operation independently on each section is increased. It also increases the level of material handling equipment infrastructure.

[0005] Accordingly, improvements in various operations of order fulfillment performed by reduced number of both workers / agents and stations, or the same workers / agents required on every section may be desired, and to overcome the drawbacks of prior art automated conveyor systems.SUMMARY

[0006] A summary of certain embodiments disclosed herein is set forth below. It should be understood that these aspects are presented merely to provide the reader with a brief summary of these certain embodiments and that these aspects are not intended to limit the scope of this disclosure. Indeed, this disclosure may encompass a variety of aspects that may not be set forth below.

[0007] Embodiments of the disclosure include an access system for a multi-level person-to-good (PTG ) picking station. The access system includes at least one ramp and optionally first and second ramps positioned about the multi-level PTG picking station. The first and second ramps are selected from a group of shapes consisting of: spiral shape, circular shape, and helix shape. The multi-level PTG picking PTG further comprises first sub-station and a second sub-stationlocated on different elevation levels. The first and second sub-stations are selected from a group of stations consisting of: a pick station, a workstation, a load / unload station, a decant station, an induct station, a conveyance station, a storage station, and a receiving station. The access system is configured to connect different elevation levels for facilitating worker access between the first and second sub- stations.

[0008] Embodiments of the disclosure include an access system for a multi-level PTG picking station.

[0009] Embodiments of the disclosure include methods and non-transitory computer readable medium with instructions for detecting a worker in a defined area adjacent the PTG picking station and for activating an operation of a ramp that is separate and independent of the PTG picking station when the worker present or absent in the defined area.

[0010] Activating the operation of the ramp may include folding or unfolding of the ramp between an inoperable configuration in response to detecting presence or absence of a worker in the defined area.

[0011] Implementations of the disclosure may include one or more of the following optional features.

[0012] Certain embodiments may be configured to utilize machine learning algorithms and / or computer vision algorithms to improve efficiency of the movement of workers.

[0013] In one embodiment, robot may be a machine learning robot capable of executing autonomous or piloted control instructions for the workers.

[0014] In accordance with an embodiment, an order fulfillment workstation comprises two substations that are vertically separated from one another, where each sub- station comprises a plurality of storage locations for goods, and includes a plurality of robots configured to operate at the two sub-stations and a vertical travel support disposed between the at least two substations. The robots are configured to traverse the vertical travel support between the two substations for operating at each of the sub-stations, where the vertical travel support is unpowered with the robots traversing the vertical travel support under their own power.

[0015] In a particular embodiment the vertical travel support comprises a ramp, and may be configured as a spiral ramp. In a further particular embodiment, the vertical travel support comprises a post. The post may define a channel, and may include a toothed rack.

[0016] The robots may each comprise wheels for traversing the vertical travel support. The robots may comprise one or more geared wheels for engaging with a toothed rack on the vertical travel support.

[0017] In any of the embodiments each sub-station may comprise a person-to-good (PTG) picking station with the robots configured to support a tote into which goods picked from selected ones of the storage containers at each sub-station are placed.

[0018] In accordance with another embodiment, a person-to-good (PTG) picking station comprises a PTG picking sub-station at an elevation level, a ramp positioned at a location at the PTG picking station configured for facilitating the movement of a robot or a human worker from the PTG picking sub- station to another elevation level from the elevation level of the PTG picking sub- station.

[0019] In accordance with yet another embodiment, a PTG system comprises a first PTG picking sub-station at a first elevation level, a second PTG picking sub-station at a second elevation level lower than the first elevation level of the first PTG picking sub-station, and a ramp positioned at a location at the PTG picking station, the ramp configured for facilitating movement of a robot or a human worker between the first PTG picking sub-station and the second PTG picking substation or between the first PTG picking sub- station and another target location.

[0020] In particular embodiments the ramp or ramps may be a spiral ramp, a circular ramp, or a helix ramp.

[0021] In still further particular embodiments, the station may comprise multiple ramps positioned at different locations of the PTG picking station. In particular, for example, a first and a second ramp may be located at respective ends of the PTG picking station. In particular embodiments, the first and second ramps have a first run to facilitate movement of a robot in a first direction and a second run to facilitate movement of a robot in a second direction opposed from the first direction. Still further, in a particular configuration, at least one of the first ramp and the second ramp comprises a dual ramp with first and second independent ramps, with one of the first and second independent ramps having a first run to facilitate movement of human workers and the other of the first and second independent ramps having a second run to facilitate movement of robots. Alternatively and / or additionally, one or both of the ramps may be collapsible.

[0022] In still further embodiments, the PTG picking station is configured for a pair of workers for picking items, where each of the workers is selected from a group consisting of robots,humanoids, biped robots, quadruped robots, robotic devices guided by computer control systems, mobile robots, and automated guided vehicles. Still further, a pair of workers may comprise a first worker and a second worker, where one worker of the first worker and the second worker is a robot device configured to exchange collaboration messages for building a cooperating team of workers paired in two.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Below, exemplary embodiments of the disclosure are described in detail with reference to the figures.

[0024] FIG. 1 is a schematic illustration of a prior art fulfillment center;

[0025] FIG. 2A is a schematic illustration of a pick and storage system with a vertical travel support ramp system in accordance with one or more embodiments of the disclosure;

[0026] FIG. 2B is an enlarged schematic illustration of the run of one of the ramps;

[0027] FIG. 2C is a side view of an exemplary robot shown in FIGS. 2A and 2B;

[0028] FIG. 3A is a schematic illustration of a pick and storage system with a ramp system in accordance with one or more embodiments of the disclosure;

[0029] FIG. 3B is an enlarged schematic illustration of the runs of one of the ramps;

[0030] FIG. 3C is an enlarged schematic illustration the ramp system of FIG. 2A with one or more embodiments of the disclosure;

[0031] FIG. 3D is an enlarged schematic illustration of the runs of one of the ramps;

[0032] FIG. 4 is a schematic illustration of a pick and storage system with a ramp system in accordance with one or more embodiments of the disclosure;

[0033]

[0034] FIG. 5A is a block diagram of one example of a control sequence that may be used for controlling the folding or unfolding of the foldable ramp or ramps;

[0035] FIG. 5B is a block diagram of another example of a control sequence that may be used for controlling the folding or unfolding of the foldable ramp or ramps;

[0036] FIG. 5C is a block diagram of a third example of a control sequence that may be used for controlling the folding or unfolding of the foldable ramp or ramps;

[0037] FIG. 5D is a block diagram of a fourth example of a control sequence that may be used for controlling the folding or unfolding of the foldable ramp or ramps;

[0038] FIG. 6 is a block diagram illustrating a fulfillment control system for worker-to-picking sub system in accordance with one or more embodiments of the disclosure

[0039] FIG. 7A is a schematic illustration of a pick and storage system with a vertical travel support channel system in accordance with one or more embodiments of the disclosure

[0040] FIG. 7B is a side view of an exemplary robot for use with the system of FIG. 7A; and

[0041] FIG. 8 is a side elevation view of an alternative vertical travel support in accordance with one or more embodiments of the present disclosure.DETAILED DESCRIPTION

[0042] For the purposes of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiments illustrated in the drawings and described in the following written specification, wherein like reference numerals represent like parts and assemblies throughout the several views. It is understood that no limitation to the scope of the disclosure is thereby intended. It is further understood that the disclosure includes any alternations and modifications to the illustrated embodiments and includes further applications of the principles of the disclosure as would normally occur to a person of ordinary skill in the art to which this disclosure pertains.

[0043] As depicted in FIG. 1, a site, such as a fulfillment center includes one or more sections, three (3) sections I, II, III are illustrated, and an automated conveyor 20 coupled between these sections. The automated conveyor 20. such as an elevator or a mechanical lifting and lowering system facilitates transfer of articles 24 between two or more sections. Each section I, II, III includes station 22a, 22b, 22c and station 12a, 12b, 12c. For example, station 12a and station 22a are installed in section I. Similar stations 12b, 12c and stations 22b-22c are also installed in sections II and III; respectively. The stations 12a- 12c are pick interfaces where variety types of products are stored and the workers can use the product lines to fulfill orders directed by mobile machine robot configured to move between stations 12a-12c, such as AMRs, AGVs. In some implementations, the stations 12a-12c may be a person-to-good (PTG) station. Stations 22a-22c are load / unload interfaces for order totes. In some implementations, the stations 22a-22c may be workstations. As can be seen, section II is located on a mezzanine, such as an elevated floor or a platform directly above section III. In some sites, more than one mezzanine may be built to create additional vertical fulfillment capacity. Typically, these elevated floors may be installed between the site floor and the site ceiling.

[0044] At each section I, II, III, mobile machine robots 16a- 16c and human workers 18a- 18c are assigned to perform one or more operations / tasks, such as picking, packing, transferring items or communication thereof. In FIG. 4, the automated conveyor 20 includes a plurality of slots rotated in a loop for receiving and moving articles between two or more sections I, II, III. For instance, the human worker 18a assigned to section I may retrieve the article 24 from station 12a and place the article 24 onto the robot 16a which in turn transfers the article 24 onto the elevator 20 via station 22a for transport to other sections II and / or III.

[0045] Depending on the type of the articles 24, certain articles 24 may be transferred to section II while others may be transferred to section III, respectively. The articles 24 in section II are either picked by at least one of the mobile machine robots 16b and human workers 18b at the station 22b, after the articles 24 are successfully transferred via the automated conveyor 20 to station 12b. In some cases, the articles 24 may be bins or totes containing partial items received from section I. When the bins reach section III, station 22c includes a conveying assembly transports the bins received from the automated conveyor 20 onto the robots 16c. The human worker 18c either retrieves items either from the respective station 12b and places them into the bins or from the bins and put them into respective station 12b.

[0046] The configuration of FIG. 1 utilizing the automated conveyor 20 coupled between the sections I, II, II results in a site with a larger physical footprint and thereby increases the space requirement for stations 22a-22c. Moreover, the cost of additional robots required and operating independently on each section is increased. It also increases the level of material handling equipment infrastructure.

[0047] FIG. 2A illustrates an access system for a multi-level person-to-good (PTG) picking station 100 in accordance with one or more implementations of the disclosure. Not all of the depicted components may be used in all implementations, however, and one or more implementations may include additional or different components than those depicted in the figure. Variations in the arrangement and type of the components may be made without departing from the spirit or scope of the claims as set forth herein. Additional components, different components, or fewer components may be provided. The illustration of FIG. 2A are not necessarily to scale, including may not be illustrated to scale with respect to other features.

[0048] In FIG. 2 A, an example layout of a multi-level PTG picking station 100 is depicted in a side view. The station 100 includes first (e.g., upper) and second (e.g., lower) sub-stations 102,104 located on different elevation levels. The sub-stations 102, 104 may each be a pick station, a workstation, a load / unload station, a decant station, an induct station, a conveyance station, a storage station, a receiving station, or any types of station suitable for a fulfillment center. In one example, the sub-stations 102, 104 are PTG picking sub-stations wherein the PTG picking sub-station 102 is positioned on the upper elevation level and the PTG picking sub-station 104 is positioned on the lower or ground elevation level. Each sub-station 102, 104 comprises a plurality of storage locations 103 at which products or goods may be stored for subsequent retrieval to fulfill an order. The storage locations 103 may be, for example, bins and goods may be decanted thereto.

[0049] In one aspect, the PTG picking sub-station 104 may be directly beneath the PTG picking sub-station 102. In other aspect, the PTG picking sub-station 104 may be positioned on the ground level but adjacent to the PTG picking sub-station 102 located above it. Although one elevated sub-station is illustrated, additional sub-stations may be installed below or above the existing elevated sub- station without departing from the scope of the disclosure. A third or additional sub-stations may be installed and positioned adjacent to the sub-stations 102 and / or 104.

[0050] The station 100 further includes an access system that connects different elevation levels for facilitating robot and human / humanoid access the sub-stations 102, 104 positioned on those levels. The access system includes first and second vertical travel supports for movement of robots 106a, 106b thereon, where the vertical supports comprise unpowered vertical travel supports upon which the robots 106a, 106b are able to traverse between elevations via the robots 106a, 106b own power. In the illustrated embodiment of FIG. 1A, the first and second vertical supports comprise first and second ramps 120, 120’ located adjacent the PTG picking station 100 and fixedly mounted at the PTG picking station 100, for example, at both ends of the PTG picking station 100, by any suitable methods of attachment, such as brackets and / or fasteners or the like. As best understood from FIG. 2A, the robots 106a, 106b may move up from the ramp 120, move across the sub-station 102, and then move down from the other ramp 120’ to perform various operations or tasks. The operations or tasks may include unloading, transporting, transferring, picking, retrieving, depalletizing, palletizing, and any suitable tasks one or more articles within an environment.

[0051] As noted, the ramps 120, 120’ may be positioned in different locations other than the two ends illustrated in FIG. 2A. The ramps 120, 120’ may be implemented in various forms or geometries, such as spiral, circular, helix shape. As illustrated, the ramps 120. 120’ may be spiral ramps. An optional support structure for the ramps 120, 120’ includes a central post 122 to which the ramps 120, 120’ may be supported. For example, the ramps 120, 120’ may be mounted to the central post 122 by brackets or braces or other structural mounting mechanisms. In an alternate arrangement, the ramps 120, 120’ may be mounted a plurality of inner and outer posts between which the ramps 120, 120’ may be supported and similarly secured therebetween by brackets or braces or other structural mounting mechanisms. For example, ramps 120, 120’ may be attached to outer posts at the outer circumference of the ramps 120, 120’. Ramps 120, 120’ may alternatively be mounted just by outer posts. In some implementations, a base structure (not shown) that serves as a support mechanism may be formed at the bottom of the ramps 120, 120’ so that the post or posts may be optional. It should further be appreciated that the station may have alternatively configured vertical supports. For example, a vertical support may have multiple spiral ramps, such as may be supported by a post or posts. For example, there may be provided two spiral ramps that are in spaced arrangement with each other whereby one ramp may be used for upward travel and the other ramp may be used for downward travel.

[0052] The robots 106a, 106b may be implemented in various forms, such as biped robots, humanoid robots, quadruped robots, robotic devices guided by computer control systems, mobile robots, such as autonomous mobile vehicles (AMRs), automated guided vehicles (AGVs), robots with legs, wheels, or traction-based mechanism that distribute and move throughout an environment, among other designations. As shown in the illustrated embodiments, robots 106a, 106b carry containers 113, such as totes, into which or from which products may be placed or picked. With reference to FIG. 2C, robot 106 includes a body or base 114 to which multiple limbs 116 are connected and which in the illustrated embodiment include powered wheels 118, where body 114 may include power, such as batteries, for driving wheels 118. Although only two such limbs 116 and wheels 118 are illustrated, in the illustrated embodiment robot 106 includes four limbs 116 and wheels 118, although alternative numbers may be employed. Robot 106 further includes a deck 120 mounted to body 114 to which is mounted a frame member 124 supporting a second deck 126. Decks 120, 126 are configured to support totes 113, where totes 113 may comprise order containers into which goods are placed for completion of an order.Robot 106 may further include a computer device 128 that may be used for controlling operation of robot 106 and / or providing an interface with workers 108, 110. For example, computer device 128 may include a display screen to provide instructions to a worker and / or enable a worker to interact with robot 106. Robot 106 further comprises sensors 130 that may be used by robot 106 for detecting and / or interacting with its surroundings. In the illustrated embodiment robot 106 further includes a gimbal mount 132 for deck 120 that enables deck 120 to remain generally horizontal even when robot 106 is changing vertical elevations, such as when body 114 is not horizontally oriented as shown in FIG. 2C but instead is angled upwardly or downwardly, depending on the direction robot 106 is traversing. Gimbal mount 132 is configured to detect the orientation of body 114 and automatically adjust deck 120 to compensate therefor. It should be appreciated that alternatively configured robots other than those as shown in FIG. 2C may be employed in accordance with aspects of the present invention.

[0053] As illustrated in FIG. 2 A, the robots 106a, 106b are Artificial Intelligence / Machine Learning (AI / ML) robots capable of executing autonomous and control instructions or command signals wirelessly communicated by workers 108, 110 (or additional workers) to optimize its movements, such as follow me movement, meet me movement, lead me movement, guide me movement, and any me movements suitable for the robots 106a, 106b and complete the operations or tasks. The workers 108, 110 may be human pickers, human agents, human workers, or humanoid workers with optional ML algorithm. For example, the robots 106a, 106b may be wirelessly paired with the workers 108, 110 via a mobile device or a wearable device 111. The wireless pairing protocol may be Bluetooth (BT), near- field communication (NFC), ultra-wide band (UWB) protocol, or any suitable short range communication protocols. One or more of the movements described above may be established in various forms of physical / gesture activities, such as touch control, tap control, vocal commands (e.g., voice command signals), audible gestures (e.g., clapping, snapping, whistling), mental features based on thoughts or thought patterns, biometric recognition, gesture expression, or facial recognition, among other designations through a sensing array (not shown) that is integrated into the robots, electronic devices (such as portable devices, wearable devices) carried or worn by the human pickers. The sensing array may include a touch sensor, an acoustic transducer, a camera, an electrode, and so forth.

[0054] Now referring to FIG. 2B, the ramps 120, 120’ that provide robot access to the stations on respective floors / levels include runs 112 with a width to accommodate a robot (e.g., robots 106a- 106d) to move up or down the ramp. Further, appropriate angles are provided at the inclinations, turns or corners of the ramps 120, 120’ for the robots 106a-106d to safely make turns without falling off the ramps 120, 120’. In one aspect, the ramps 120, 120’ could be used exclusively to enable workers, such as robots 106a-106d to access the respective stations 102, 104 or floors / levels. In some implementations, the ramp 120 could be used exclusively to enable the human workers 108, 110 to walk up and down whereas the ramp 120’ may be designated exclusively for the robots 106a-106d to use for both upward and downward movements between different floors. In one aspect, the width of the run is configured to accommodate movement of a single worker, such as robot 106a-106d or human worker / agent 108, 110. In another aspect, the width of the run is configured to accommodate movements of both human workers / agents 108, 110 and robots 106a-106d travel simultaneously either in one or opposite direction between floors.

[0055] Referring back to FIG. 2A, the robot 106a is wirelessly paired with the human worker 108 to perform order tasks on the upper floor. On the other hand, one or more robots 106b-106d may be wirelessly paired with the human worker 110 to perform order tasks on the ground or lower floor. The robot 106a starts at landing or bottom level of the ramp 120 and moves upward along the runs 112 until it reaches the designated floor. The me movement between the robot 106a and the human worker 108 may be established either at the landing level or at the designated floor. Together with the robot 106a, the paired team 106a, 108 carry out the operation as well as perform their tasks, such as pick and / or put articles to / from the PTG picking sub-system 102 for the relevant orders. Likewise, the robots 106b-106d and the human worker 110 may establish the me movement at any time as needed to perform the tasks, such as pick and / or put articles to / from the PTG picking sub-system 104. Once the paired team 106a. 108 have performed their tasks, the robot 106a moves down along the runs 112 of the ramp 120’ until it reaches the ground or lower level or floor for transporting the articles to one or more dedicated destinations, such as a shipping station, a packing station, a palletizing station, and so forth. In one aspect, the robot 106a may continue to pair with the human worker 108 until the order tasks are finally completed, such as shipped or delivered. In another aspect, the paired connection between the robot 106a and the human worker 108 may be terminated after the robot 106a exits the PTG picking sub-station 102 or before it moves down the ramp 120’ . Another paired connection may be optionally established with a different human worker 110 to carry out further order tasks in the lower level or ground floor.

[0056] FIGS. 3A-3D illustrate an access system for a multi-level PTG picking station 200 in accordance with one or more implementations of the disclosure. Other embodiments may include fewer components, additional components, or different components than those depicted in the figure. Variations in the arrangement and type of the components may be made without departing from the spirit or scope of the claims as set forth herein. The illustration of FIGS. 3A- 3D may not be to scale and may not be illustrated to scale with respect to other features.

[0057] As best understood from FIGS. 3 A and 3B, alternative unpowered vertical travel supports upon which robots 206a, 206b traverse between elevations via the robots 206a, 206b own power are illustrated as ramps 220, 220’, which may also be configured as spiral ramps similar to ramps 120, 120’ and which include two parallel side-by-side runs 212a, 212b. Optionally, as illustrated in FIG. 3D a gap 214 may be formed between the runs 212a, 212b. Another feature may include an access right or privilege. In FIG. 3A, the ramp 220 allows both human / humanoid worker 208 and the robot 206a walk or move upward side-by-side to access sub-station 202 located on upper level and then walk and move downward side-by-side to access sub-station 204 or another target location, for example, located on lower or ground level. For instance, while the human / humanoid worker 208 can walk up and down the run 212a alongside with the robot 206a, e.g. , the robot 206a can also move upward and downward the run 212b. When only a single run provided, and where the robot and the human / humanoid worker can, therefore, only move in tandem, the single run ramp may be designed to be a single lane / run profile having a narrow width only able to accommodate one worker after another worker at a time. Each sub-station 202, 204 comprises a plurality of storage locations 203 at which products or goods may be stored for subsequent retrieval to fulfill an order. The storage locations 203 may be, for example, bins and goods may be decanted thereto. Workers 108, 110 may select goods from the storage locations 203 for placement into totes or order containers 113 carried by robots 106 for fulfilling an order.

[0058] In one aspect, the PTG picking station 200 includes two ramps 220, 220’ positioned on both ends of PTG picking station 200 for facilitating the movement of the workers 208, 210, 206a-206d to and from various target locations, such as sub-stations 202, 204, which may belocated on different levels / floors of PTG picking station 200. In one example, the ramp 220 may be assigned for upward movement while the ramp 220’ may be assigned for downward movement. In another aspect, the PTG picking station 200 only includes a single ramp 220 or 220’ configured to facilitate two-way movement, e.g., upward and downward movements, on its own runs 212a, 212b.

[0059] Now referring to FIGS. 3C-3D, each ramp 220, 220’ may comprise dual or twin ramps — in other words, they may each have two ramps 220a, 220b each with two runs 212a, 212b (FIG.2D). Although illustrated in reference to ramp assembly 220, the illustration and description may equally apply to ramp assembly 220’. In the illustrated example, as noted, ramp 220 includes two independent and distinct ramps 220a, 220b (FIG. 3C) supported on post 222 and each with two runs 212a and 212b with a gap 214 formed between these runs (FIG. 3D). The ramp 220a includes a first run 212a for facilitating the movement of the robot 206a, and the ramp 220b includes a second run 212b for facilitating the movement of the human worker 208.

[0060] In one aspect, the width of the run 212a may be substantially the same as, wider than, or narrower than the width of the run 212b. In another aspect, the PTG picking station 200 may include two double / twin ramps with each double / twin ramp including two independent and distinct outer and inner ramps configured to travel spirally in ascending order. The width of the outer ramp maybe substantially the same as, wider than, or narrower than the width of the inner ramp. The outer ramp permits the movement of the robot 206a, and the inner ramp permits the movement of the human / humanoid worker 208.

[0061] FIG. 4 illustrates a collapsible / smart access system for a multi-level PTG picking station 300 in accordance with one or more implementations of the disclosure. Not all of the depicted components may be used in all implementations, however, and one or more implementations may include additional or different components than those depicted in the figure. Variations in the arrangement and type of the components may be made without departing from the spirit or scope of the claims as set forth herein. Additional components, different components, or fewer components may be provided. The illustration of FIG. 4 may not be to scale and may not be illustrated to scale with respect to other features.

[0062] In FIG. 4, an example layout of a multi-level PTG picking station 300 is depicted in a side view. As with the disclosure in FIGS. 2A-3D, the station 300 includes an access system formed by spiral ramps 320, 320’. In the illustrated example, spiral ramps 320, 320’ are configured ascollapsible spiral ramps that are mechanically coupled to the PTG picking station 300, for example to opposite ends of the PTG picking station 300, by any suitable methods of attachment, such as brackets and / or fasteners. In the illustrated example, the ramp 320 is illustrated in an expanded or operable configuration, while the spiral ramp 320’ is illustrated in a collapsed or inoperable configuration. The configuration of the access system (expanded configuration or collapsed configuration) may be controlled and changed in response to information or input, such as a control signal (e.g., from a user), instruction data, command signals, or certain events or sensed conditions that trigger the access system to automatically to expand, collapse, remain expanded, or remain collapsed. Each sub-station 302, 304 comprises a plurality of storage locations 303 at which products or goods may be stored for subsequent retrieval to fulfill an order. The storage locations 303 may be, for example, bins and goods may be decanted thereto

[0063] The PTG picking station 300 further includes a control system 348 with a controller 340, which may be in communication with a network 344 and / or any suitable computing systems, such as a server system, an edge computer system, in addition to the workers including robots, humanoid workers, or robotic devices described previously in FIGS. 2A-3D. The controller 340 may be implemented as a standalone controller, as a board added to the control system 348, as a virtual machine, or as an integrated component incorporated into the PTG picking station 300, such as the PTG picking sub-stations 302, 304, and / or the ramps 320, 320’. The controller 340 can receive instructions for instructing the ramps 320, 320’ to collapse or expand.

[0064] In one example, the controller 340 may obtain information from a user or a condition, as described below. For example, the control system 348 may include a user interface having one or more input controls that are coupled to the controller 340 so that the user can provide a user input to the input control 340, and the input control can provide information to the controller 340 based on the user input. The one or more input controls may include one or more buttons, touchscreens, keyboards, keypads, mouses, microphones, cameras, and / or any other suitable devices that can obtain user inputs. The user input may be in a form based on the input control. For example, the user input may be a press of the button, a touch of the touchscreen, a keystroke on a keyboard, a button click on the mouse, etc.

[0065] An optional orientation invariant 3D operator model, such as human model, robotic model may be integrated into one of the controller 340. the control system 348. a second controller (not shown) and is configured to verify the operators 308, 310, robots 306a-306c to determinewhether they are entering or existing the zones A-C. The one of the controller 340, the control system 348, a second controller (not shown) tracks the contour of the operators 308, 310, such as head and / or shoulder.

[0066] In some embodiments, the controller 340 or a second controller (not shown) may be incorporated into the robots or the humanoid workers to control or access the control of the ramps. In yet another embodiment, the controller 340 may be incorporated into the electronic devices (such as portable devices, wearable devices, and so forth) carried or worn by the human workers 308, 310. Although one controller 340 is illustrated, more than one controller may be provided in an environment. The controller 340 may be in wired and / or wireless communication with the PTG picking station 300. The controller 340 may communicate with one or more PTG picking sub-stations 302, 304, the spiral ramps 320, 320’, the workers, or the electronic devices to perform one or more actions, such as coordinate the operations of the spiral ramps 320, 320’. Example controller 340 or controller system 348 will be discussed further with respect to FIG.6.

[0067] The network 344 communicatively couples the controller 340 to one or more computing systems directly or indirectly and may include any one or more different types of communications networks, such as cable networks, public networks (e.g. Internet), private networks (e.g. frame-relay networks), wireless networks, cellular networks, telephone networks (e.g. public switched telephone network (PSTN)), circuit- switched networks, global networks, metropolitan area networks (MANs), wide area networks (WANs), local area networks (LANs), personal area networks (PANs), wireless local area networks (WLANs), Long Term Evolution (LTE) networks. WiMAX networks, 3G / 4G / 5G / 6G networks, public cloud networks, private cloud networks, hybrid cloud networks, distributed networks, decentralized networks, centralized networks, any suitable wireless communication networks, or any communication range associated therewith suitable for an environment.

[0068] The information or input used to trigger the operation of the ramps 320, 320’ may be detected / captured by a senor, such as a sensing array (not shown), which is integrated into the ramps 320, 320’, the PTG picking station, the building fixtures (e.g., lighting devices, security system, sound systems, cameras, etc.), flooring, ceiling, or combination thereof. The sensor may include an acoustic transducer, an optical sensor, or any sensors / transducers suitable for the application. For example, the input may be voice / audio, text, and / or gesture to activate the spiralramps 320, 320’, such as for example close, open, remain open, remain close, pause, collapse, or extend.

[0069] The ramps 320. 320’ further include a communication module (not shown) which is configured to communicate with another communication module either mounted on, worn by, or carried by the workers wirelessly. The communication module carried by the workers may be incorporated into a portable device, such as a tablet, a phablet, a smart phone, or any wireless devices suitable to communicate with the access system, such as ramps 320, 320’. The communication module worn by the workers may be incorporated into a wearable device, such as a smart glass, a smart goggle, a smart watch, a smart ring, a smart bracelet, a smart necklet, or any devices suitable to communicate with the access system, such as ramps 320, 320’. The workers regardless the robots, or human workers through the electronic devices (e.g., portable devices, wearable devices) may provide instruction to the spiral ramps 320, 320’ through the communication modules wirelessly. The communication protocol which is used to communicate wireless signals can include, but is not limited to protocol, such as Bluetooth (BT), Low-Energy Bluetooth (BLE), Wi-Fi, Ultra-Wide Band (UWB) protocols, Infrared (IR), near-field communication (NFC), Zigbee, cellular protocols, Radio Frequency (RF), Long Term Evolution (LTD), other such wireless communications, or combinations of such communications.

[0070] In one example, ramps 320, 320’ may be configured to be operable to change from a collapsed configuration (inoperable position) to an expanded configuration (deployed position) in response to a condition, including a sensed condition, such as when a worker is within a target area (FIG. 5A). The ramps 320, 320’ may define a target area, such as the footprint of the ramp, when in their deployed positions. For example, as shown in FIG. 5A, the system detects is a worker is in a defined area adjacent a PTG picking station, as shown at step 502. If so, at step 504 based on the detecting the system activates an operation of a ramp that is separate and independent of the PTG picking station. As noted at step 506, activating of the ramp may include, for example, folding and / or unfolding of the ramp between an inoperable configuration in response to detecting presence or absence of a worker in the defined area.

[0071] Some embodiments may include one or more image processing system, video processing system, audio processing system, or combination thereof, to process image, video, audio, and / or text. These processing systems may be further configured to detect either one or more movement gestures and / or hand gestures performed by the workers, one or more commands from audioand / or voice input, etc. Further, the movement may be synchronized with the workers such that the workers may move up and down when the ramp is expanded but are stopped when collapsed.

[0072] The ramps 320, 320’ may be provided or equipped with an awareness and synchronize logic for targeting and monitoring safety of the human workers 308 within the zones A-C, for example. The awareness and synchronize logic may be implemented as executable software, as firmware, as software and firmware in any combination.

[0073] At zone C (boarding zone):

[0074] Referring to FIG. 5B, for instance, when the human worker 308 approaches or is in the vicinity of zone C (e.g., a defined area), the human worker 308 can use one of the commands to control and activate the ramp 320, as shown at step 508. The ramp 320 receives the command and validates the received command, such as compares the command with the stored data, as shown at step 510. After validation is confirmed, the ramp extends until it is in its operative configuration (where it is fully unfolded) to receive the human worker 308, as shown at step 512.

[0075] In another aspect, a robot 306a without the presence of the human worker 308 is in the vicinity of or approaches zone C may be utilized to perform various operations, such as picking, packing, storing, unpacking, etc. The robot 306a sends a control signal, such as a command signal, to control and activate the ramp 320. The ramp 320 receives the signal and validates the received signal, for example, by comparing the signal with the stored data. After validation is confirmed, the ramp 320 extends until it is in its fully expanded configuration to receive the robot 306a.

[0076] Referring to FIG. 5C the ramp 320 may not be activated to change its configuration if one of the workers 306a-306c, 308, 310 is detected to be either directly below or within a defined area or boundary too close to the ramp 320 or is traveling in the direction towards the ramp 320. For example, step 514 illustrates the system detecting if a worker is (a) directly below or (b) within a defined boundary too close to the ramp, or (c) is traveling in the direction towards the ramp. If so, as noted at step 516, the system prevents unfolding of the ramp or maintains the ramp in a folded configuration.

[0077] In another aspect, the ramp 320 may not be activated to change its configuration if one of the workers 306a, 308 is outside zone C, such as before and / or after zone C, but is traveling in the direction towards the ramp 320 (FIG. 5D). For example, step 518 illustrates the system detecting if a worker is (a) directly below or (b) within a defined boundary too close to the rampor (c) is traveling in the direction towards the ramp. If so, as noted at step 520, the system prevents unfolding of the ramp or maintains the ramp in a folded configuration if the worker is outside the predefined area but is traveling in the direction towards the defined area.

[0078] The ramp 320 may be expanded by unfolding the ramp in sequential steps 1, 2, 3, and 4 as depicted in FIG. 3. In another aspect, the ramp 320 may be unfolded in random steps.

[0079] Once the ramp 320 is fully expanded, the workers 308. 306a can climb up the ramp 320 to perform various operations previously described.

[0080] The expansion may involve at least two operations. The first expansion may involve the ramp unfolding to 3, 2, and 1. Once the ramp is fully unfolded and the ramp is in its operative configuration, the worker may move up or down the access system to perform various tasks.

[0081] At zone A (waiting zone):

[0082] After the workers 306a, 308 complete the operations and are ready to travel to the next area or destination beneath the picking area 302, the workers 306a, 308 may need to climb down the ramp 320’ in order to reach the next area or destination. To climb down the ramp 320’, the workers 306a, 308 may need to control and activate the ramp 320’ to expand to its operative configuration. Referring to FIG. 5B, for example, one of the workers 306a, 308 may send the commands to the ramp 320’ to unfold. The ramp 320’ receives the command and validates the received command, such as compares the command with the stored data. After validation is confirmed, the ramp is fully unfolded, which allows the workers 306a, 308 to climb down the ramp 320’ to perform various operations previously described. Similar to the ramp 320’, the ramp 320 may also be unfold in sequential or random orders.

[0083] Referring to FIG. 5D, in one aspect, the ramp 320’ or ramp 320 may not be activated to change its configuration if one of the workers 306a, 308 is outside zone A, such as before zone A. but is traveling in the direction towards the ramp 320’ or ramp 320.

[0084] At zone B (junction zone):

[0085] Referring again to FIG. 5C in other aspect, the ramp 320’ may not be activated if one of the workers 306b. 306c, 310 is either directly below or in the vicinity of the ramp 320’ or traveling in the direction towards the ramp 320’, even if at least one of the workers 306a, 308 is detected in zone A.

[0086] Referring again to FIG. 5D in another aspect, the ramp 320’ may not be activated if one of the workers 306b-306c, 310 is outside zone B, such as before and / or after zone B, but is traveling in the direction towards the ramp 320’ or zone B.

[0087] A controller, such as fulfillment orchestrator or fulfillment control system 340 can coordinate the operations of the access system 320, 320’ through its communication module with the communication module of the workers or the device either carried or worn by the workers.

[0088] FIG. 6 illustrates an exemplary fulfillment orchestrator or fulfillment control system 440 in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or few blocks. Example embodiments of the disclosure provide a number of technical features or technical effects. For example, in accordance with example embodiments of the disclosure, certain embodiments of the disclosure may improve processing speed, throughput, and / or efficiency of fulfillment centers.

[0089] Referring to FIG. 6, control system 440, such as a warehouse control system is depicted.It should be appreciated that the order fulfillment systems employing control systems in accordance with the disclosure may be configured and employed in numerous ways and environments utilizing variously configured and differing material storage and handling systems. Accordingly, the below description of FIG. 6 should be understood as non-limiting and is provided for explanatory purposes. The warehouse control system 440 is communicatively coupled to the one or more networks 444.

[0090] The warehouse control system 440 includes an order-fulfillment control and monitoring system 446, a warehouse management system (WMS) 448, a warehouse execution system (WES) 450, and a supply chain management system (SCMS) 452. Each system 446, 448, 450, 452 may comprise one or more computer systems or each may include respective computer systems or networked servers interoperating with control software. The warehouse control system 440 and its combination of subsystems and / or interconnected systems 446, 448, 450.452 are each configured and operable to access the control software to perform the method and processes for the order fulfillment activities described herein. It should be appreciated that each WES, WCS, and WMS, if present, may have unique, although potentially overlapping, responsibilities within the warehouse. However, for clarity purposes, unless otherwise referenced by their specific name or acronym, the WES, WCS, and WMS are hereinafter referred to generally as the warehouse execution system (WES).

[0091] As illustrated in FIG. 6, one or more automated equipment in the warehouse may be controlled in conjunction with or cooperation with one or more robotic controls systems (RCSs) 454. The WES and the one or more RCSs 454 are in communication in order to perform order tasks and / or operations between different levels as described previously.

[0092] FIG. 7A illustrates in side view an access system for a multi-level person-to-good (PTG) picking station 600 in accordance with one or more implementations of the disclosure that is not necessarily to scale. The station 600 includes first (e.g., upper) and second (e.g., lower) substations 602, 604 located on different elevation levels. The sub-stations 602, 604 may each be a pick station, a workstation, a load / unload station, a decant station, an induct station, a conveyance station, a storage station, a receiving station, or any types of station suitable for a fulfillment center. In one example, the sub-stations 602, 604 are PTG picking sub-stations wherein the PTG picking sub-station 602 is positioned on the upper elevation level and the PTG picking sub-station 604 is positioned on the lower or ground elevation level. As shown, a worker 608 is located at the upper sub-station 602 and a worker 610 is located at the lower sub-station 604. Each sub-station 602, 604 comprises a plurality of storage locations 603 at which products or goods may be stored for subsequent retrieval to fulfill an order. The storage locations 603 may be, for example, bins and goods may be decanted thereto.

[0093] Station 600 includes first and second vertical travel supports for movement of robots 607 (FIG. 7B) thereon, where the vertical supports comprise unpowered vertical travel supports upon which the robots 607 able to traverse between elevations via the robots 607 own power. In the illustrated embodiment of FIG. 7A, the first and second vertical travel supports comprise first and second posts 620, 620’ located adjacent the PTG picking station 600 and fixedly mounted at the PTG picking station 600, for example, at both ends of the PTG picking station 600. Although shown as a single post 620, 620’ on each end, it should be appreciated that multiple such posts may be provided at each end of station 600, such as may be spaced apart in like manner to the width of robots 607 with robots 607 configured to vertically climb up and down posts 620, 620’ to traverse between the elevations of sub-stations 602, 604.

[0094] In the illustrated embodiment, for example, posts 620, 620’ comprise an elongate rack with teeth to which geared wheels 609 of robot 607 engage for vertically moving robot 607 along posts 620, 620’. For example, posts 620, 620’ may comprise c-shaped channels with internally oriented teeth, with wheels of the robot 607 engaging within or entrained by the channels fortravel there along. With reference to FIG. 7B, robot 607 includes a plurality of floor bound wheels 618, some or all of which may be powered to drive robot 607 on a horizontal surface. Robot further includes a deck 620 upon which totes 113 may be earned. Robot 607 includes a front side 621 at which wheels 609 and a pair of wheels 618 are disposed, where wheels 609 and 618 may be powered for providing vertical travel to robot 607.

[0095] Referring again to FIG. 7A, an optional horizontal travel support 623 is illustrated at upper sub- station 602 along which robot 607 may traverse so as to be in an ergonomic orientation and / or provide additional capacity, where support 623 is positioned above the horizontal surface or mezzanine on which worker 608 is supported. In the illustrated embodiment horizontal travel support 623 is mounted between vertical travel supports 620, 620’ such that robots 607 are able to vertically climb and horizontally traverse there along while enabling worder 608 to pick goods to or from a tote 113 supported on the deck 620 of robot 607. Lower sub-station 604 may also or alternatively include a horizontal travel support 623. It should be appreciated that multiple such horizontal travel supports 623 may be employed at station 600, including at either one or both of sub-stations 602, 604. In addition, robots 607 may traverse along the horizontal surfaces on which workers 608, 610 are supported. As shown in FIG. 7A, robots 106 may optionally also be employed with the station 600.

[0096] Although not shown, a robot 607 may be also be provided with a limb or picking arm whereby robot 607 may select goods to place in a tote supported thereon or place goods from such a tote. A picking arm for a robot is illustrated in, for example, commonly owned U.S. Pat. No. 9,550,624, which is incorporated herein by reference.

[0097] It should be appreciated that numerous alternative configurations and arrangements for both robots themselves and unpowered vertical travel supports for such robots may be employed. For example, although posts 620, 620’ are discussed above as including toothed rack for engagement by a geared wheel on a robot, alternative vertical travel posts and robots may be configured. In such an alternative embodiment, the vertical travel supports may not include a toothed rack and instead, a robot having moveable limbs and wheels disposed thereon may move the wheels into engagement with the alternative vertical travel support for pressed, friction engagement with the vertical travel support to drive the robot vertically up and down thereon. Such a vertical travel support may be configured as a straight post, with or without channels, or may be configured as a spiral post without a ramp surface.

[0098] Still further, with reference to FIG. 8, another alternative vertical travel support 720 embodiment is illustrated comprising a hollow internal post 722 and a spiral ramp surface 712 disposed therearound. Post 722 has openings 725a, 725b into and out of which robots may enter and exit for traveling vertically up and down post 722, such as between sub-stations of a work station, such as anyone of the PTG stations discussed above. The post 722 may include an internal channel for geared engagement, such as by a robot 607 as disclosed in FIG. 7B. Alternatively, a robot may press against the internal surface of the post 722 for traversing there along. Additionally, by way of ramp surface 712, robots may traverse vertically between spaced apart sub-stations by traveling there along. For example, robots 106 may travel along the ramp surface 712. Still further, ramp surfaces 712 may be sized whereby an autonomous mobile robot (AMR) supporting a pallet of goods may be moved along ramp surface 712. For example, such pallet supporting AMRs may be used to replenish the sub-stations while the robots traversing internally of post 722 may be used for collecting items for a given order.

[0099] In still further embodiments, a robot traversing a vertical travel support may engage with the vertical travel support for aiding in movement there along. For example, a toothed rack may be provided on the exterior of a post for engagement by a wheel or limb of a robot traveling along a spiral ramp to provide additional engagement for the robot. For example, a driven toothed wheel may be provided on the robot for powering up the ramp or controlling descent there along. Still further, a robot may engage with the exterior edge of the spiral ramp, such as by way of a wheel of the robot. In a particular embodiment, the edge of the spiral ramp may comprise a toothed edge for engagement by a powered, driven geared wheel of the robot.

[0100] Vertical travel support is not intended to just be a straight vertical member but also encompasses spirals, inclines and the like and provides a support upon which a robot travels under power of the robot for reaching separate levels. This may include, for example, stairs upon which a powered robot with articulated limbs 116 is able to “walk” up and down.

[0101] As previously described, a computer system described with reference to the figures herein may include a controller, an input device coupled to the controller, an output device coupled to the controller, and memory devices each coupled to the controller. The controller may be implemented as hardware, software, firmware, and / or any combination of hardware, software, and / or firmware. The controller may be implemented as one or more devices, such as. for example, programmable processors (e.g., a field programmable gate array, a programmable logiccontroller), microprocessors (e.g., a central processing unit, a multi-core processor, a crypto processor, a digital signal processor, a graphics processing unit), microcomputers (e.g., an electronic control unit), microcontrollers, central processing units, state machines, and / or circuits (e.g., an analog circuit, a logic circuit, a crypto circuit, an application specific integrated circuit).

[0102] The controller may perform computations and control the functions of the system, including executing instructions included in computer code for the tools and programs capable of implementing methods for monitoring warehouses, distribution centers, and intralogistics, in accordance with some embodiments, wherein the instructions of the computer code may be executed by the processor via a memory device. The computer code may include software or program instructions that may implement one or more algorithms for implementing one or more of the foregoing methods. The processor executes the computer code.

[0103] The memory device may include input data. The input data includes any inputs required by the computer code. The output device displays output from the computer code. A memory device may be used as a computer usable storage medium (or program storage device) having a computer-readable program embodied therein and / or having other data stored therein, wherein the computer-readable program comprises the computer code. Generally, a computer program product (or, alternatively, an article of manufacture) of the computer system may comprise said computer usable storage medium (or said program storage device).

[0104] As will be appreciated by one skilled in the art, the disclosure may be a computer program product. Any of the components of the embodiments of the disclosure can be deployed, managed, serviced, etc. by a service provider that offers to deploy or integrate computing infrastructure with respect to embodiments of the inventive concepts. Thus, an embodiment of the disclosure discloses a process for supporting computer infrastructure, where the process includes providing at least one support service for at least one of integrating, hosting, maintaining and deploying computer-readable code (e.g., program code) in a computer system including one or more controller(s), wherein the controller(s) carry out instructions contained in the computer code causing the computer system for generating a technique described with respect to embodiments. In another embodiment, the disclosure discloses a process for supporting computer infrastructure, where the process includes integrating computer-readable program code into a computer system including a controller.

[0105] Aspects of the disclosures are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0106] These computer-readable program instructions may be provided to a controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the controller of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer- readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer-readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function / act specified in the flowchart and / or block diagram block or blocks.

[0107] The computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer- implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0108] The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the Figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order,depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0109] It will be appreciated that numerous various to the above-mentioned approaches are possible. Variations to the above approaches may, for example, include performing the above steps in a different order.

[0110] While certain exemplary embodiments have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of are not restrictive on the broad disclosure, and that this disclosure is not limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those of ordinary skill in the art. The description is thus to be regarded as illustrative instead of limited.

Claims

CLAIMSThe embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:

1. An order fulfillment workstation comprising:two sub- stations that are vertically separated from one another, wherein each sub- station comprises a plurality of storage locations for goods;a plurality of robots configured to operate at the two sub-stations;a vertical travel support disposed between the at least two sub-stations;wherein the robots are configured to traverse the vertical travel support between the two sub-stations for operating at each of the sub-stations, and wherein the vertical travel support is unpowered with the robots traversing the vertical travel support under their own power.

2. The order fulfillment workstation of claim 1, wherein the vertical travel support comprises a ramp.

3. The order fulfillment workstation of claim 2, wherein the robots each comprise wheels for traveling on the ramp.

4. The order fulfillment workstation of claim 3, wherein the ramp comprises a spiral ramp.

5. The order fulfillment workstation of claim 1, wherein the vertical travel support comprises a post.

6. The order fulfillment workstation of claim 5, wherein the robots each comprise geared wheels for engagement with the post.

7. The order fulfillment workstation of any of claims 1 to 6, wherein each sub-station comprises a person-to-good (PTG) picking station and wherein the robots are each configured to support a tote into which goods picked from selected ones of the storage containers at each sub- station are placed.

8. A person-to-good (PTG) picking station comprising:a PTG picking sub-station at an elevation level; anda ramp positioned at a location at the PTG picking station configured for facilitating the movement of a robot or a human worker from the PTG picking sub-station to another elevation level from the elevation level of the PTG picking sub-station.

9. The PTG picking station of claim 8, wherein the ramp is a spiral ramp, a circular ramp, or a helix ramp.

10. The PTG picking station of claim 8 or 9. wherein the ramp comprises a first ramp, further comprising a second ramp positioned at another location at the PTG picking station.

11. The PTG picking station of claim 10, wherein each of the first and second ramps are located at respective ends of the PTG picking station.

12. The PTG picking station of claim 10, wherein at least one of the first and second ramps has a first run to facilitate movement of the robot in first direction and a second run to facilitate movement the robot in a second direction opposed from the first direction.

13. The PTG picking station of claim 10, wherein at least one of the first ramp and the second ramp comprises a dual ramp with first and second independent ramps, with one of the first and second independent ramps having a first run to facilitate movement of human workers and the other of the first and second independent ramps having a second run to facilitate movement of robots.

14. The PTG picking station of any above claim, further comprising a pair of workers for picking items, wherein each of the workers is selected from a group consisting of: robots, humanoids, biped robots, quadruped robots, robotic devices guided by computer control systems, mobile robots, and automated guided vehicles, the ramp.

15. The PTG picking station of claim 14 wherein the pair of workers comprises a first worker and a second worker, one worker of the first worker and the second worker is a robot device configured to exchange collaboration messages for building a cooperating team of workers paired in two.

16. A PTG system comprising:a first PTG picking sub-station at a first elevation level;a second PTG picking sub-station at a second elevation level lower than the first elevation level of the first PTG picking sub-station; anda ramp positioned at a location at the PTG picking station, the ramp configured for facilitating movement of a robot or a human worker between the first PTG picking sub- station and the second PTG picking sub- station or between the first PTG picking sub- station and another target location.

17. The PTG system of claim 16, wherein the ramp is collapsible between an operative configuration and an inoperative configuration.

18. The PTG system of claim 16 or 17, wherein the ramp comprises a first ramp, further comprising a second ramp positioned at another location at the PTG picking station.

19. The PTG system of claim 18, wherein at least one of the first and second ramps has a first run to facilitate movement of a robot or human worker in first direction and a second run to facilitate movement a robot or human worker in a second direction opposed from the first direction.

20. The PTG system of claim 18, wherein at least one of the first ramp and the second ramp comprises a dual ramp with first and second independent ramps, with one of the first and second independent ramps having a first and second runs.

21. The PTG system of claim 20, wherein the first run is configured to facilitate movement of human workers and the second run is configured to facilitate movement of robots.

22. The PTG system of claim 18, wherein at least one ramp of the first and second ramps is collapsible between an expanded, operative configuration and a collapsed, inoperative configuration.

23. The PTG system of claim 22, further comprising a control system, the control system configured to control the configuration of the at least one ramp.

24. The PTG system of claim 23, wherein the control system is configured to change the configuration of the at least one ramp in response to information or input.

25. The PTG system of claim 24, wherein the information or input includes a sensed condition.

26. A non-transitory computer readable medium for controlling access by a worker to a PTG picking station, the PTG picking station having a reconfigurable ramp allowing access to the worker to an elevated PTG picking sub-station of the PTG picking station, said medium having instructions therein for:detecting the presence or absence of worker within a defined region around the PTG picking station; andin response to detecting the presence or absence of the worker in the defined area, reconfiguring the ramp.

27. The non-transitory computer readable medium according to claim 26, wherein the reconfiguring the ramp includes unfolding the ramp until the ramp is fully extended and in an operable configuration.

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