WO2025117688A1

WO2025117688A1 - Mobile robot with container transfer

Info

Publication number: WO2025117688A1
Application number: PCT/US2024/057678
Authority: WO
Inventors: Alan J. Grant; Henry B. SICK; Martin R. Elliott; Mark H. SOLOMON
Original assignee: Symbotic Inc
Current assignee: Symbotic Inc
Priority date: 2023-12-01
Filing date: 2024-11-27
Publication date: 2025-06-05
Anticipated expiration: 2026-06-01
Also published as: WO2025117691A1; WO2025117695A1

Abstract

A mobile robot configured to operate in a multilevel structure within an Automated Storage and Retrieval System (ASRS) to fulfill incoming customer orders. The mobile robot can perform a variety of tasks to fulfill said orders and can have status indicator/s to communicate tasks performed and/or health parameters of the robot. The robot may have a container transfer mechanism to safely onboard or offload a container and transfer the container within the ASRS. The robot may travel in a vertical or inclined passage having a track and a charge rail. The robot may climb the vertical or inclined passage via a vertical drive assembly that may be operatively coupled to a charge toe assembly for allowing the robot to charge during motion. The vertical drive assembly and charge toe assembly synchronously extend or retract components to perform vertical motion and safe charging of the mobile robot.

Description

MOBILE ROBOT WITH CONTAINER TRANSFER

Cross-Reference To Related Applications

[0001] This application claims the benefit of U.S. Provisional Application No. 63/605,399 filed December 1, 2023, and entitled MOBILE ROBOT (DocketNo. 8842-157802-USPR 8215US01), and claims the benefit of U.S. Provisional Application No. 63/716,167 filed November 4, 2024, and entitled MOBILE ROBOT (Docket No. 8842-160998-USPR 8960US01), both of which are incorporated herein by reference in their entirety.

1. Technical Field

[0002] The exemplary and non-limiting embodiments relate generally to a mobile robot and, more particularly, to a mobile robot for use within an automated storage and retrieval system (ASRS).

2. Description of Related Art:

[0003] Several distributions centers and supply chain management units employ effective storage and retrieval mechanisms. The efficiency of such storage and retrieval mechanisms can be tuned by automating or achieving self-sufficiency in various operations within the facility. One infrastructure example for these facilities may include operation of mobile robots within said multi-level structure and/or in vicinity of the structure. Storage and access capabilities are typically dependent on the formation or internal construction of the multi-level structure. Designated storage areas can house containers or totes and access pathways for the operation of mobile robots. The mobile robots may access the containers directly or indirectly and participate in transporting the container at a required location. One challenge in accessing containers is providing an efficient and safe transfer mechanism to retain and carry the container without damage or spillage.

[0004] Some mobile robots may include capabilities to onboard containers thereon, retain the onboarded container in transit and offload the container at a desired location. Various mechanisms may be employed to ensure safe onboarding and offloading of containers on mobile robots. The mechanism may be physically located on the mobile robot or disposed on designated locations of multilevel structure or may be distributed such that complementing parts of the mechanism may be provided on the mobile robot as well as the multi-level structure. Additionally, said transfer mechanism may be constructed to ensure smooth handling of container when onboarding, offloading or during transit. The transfer mechanism should also be sensitive to the articles within the container and transport said articles without damage or spillage.

[0005] Various forms of energy inputs can be used for the operation of mobile robots. The mobile robots are often battery operated or need another constant energy input or energy storage capability. It is a challenge to provide energy inputs such that mobile robots can operate without interruption of a run cycle in the system. In case the mobile robot has energy storage devices onboard, the charging of the energy storage device should be achieved safely and without wearing other components on the mobile robot or in the multi-level structure.

[0006] Most mobile robots employed at order fulfillment facilities are multi-part components that may need repair or replacement of parts. It is a challenge to access specific parts in a mobile robot when it is completely assembled for dispatch or testing. Unnecessary disassembling may lead to inefficiency and prolonged breaks until the mobile robot is operational again. This may cause delays in order fulfillment.

[0007] The fleet of mobile robots employed at a facility may be similar in appearance - scale, dimensions, color, etc. but may perform distinct tasks. The mobile robots may typically follow a workflow to achieve order fulfillment and by performing one of more tasks that lead to the fulfillment. A plurality of human operators may be designated at defined workstations or may work in proximity of the multilevel structure to assist in order fulfillment. It is a challenge to visually determine which of the mobile robots is performing which operation in the workflow.

BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The foregoing aspects and other features are explained in the present disclosure, taken in connection with the following drawings.

[0009] FIGURE 1 illustrates an exemplary automated storage and retrieval system (ASRS) comprising a multilevel structure according to embodiments of the present disclosure.

[0010] FIGURE 2 illustrates an isometric view of a portion of an exemplary multilevel structure according to embodiments of the present disclosure.

[0011] FIGURES 3A and 3B illustrate perspective views of an exemplary mobile robot according to embodiments of the present disclosure. [0012] FIGURES 4A and 4B illustrate perspective views of an exemplary container and exemplary mobile robot illustrating onboarding-offloading of an exemplary container therefrom according to embodiments of the present disclosure.

[0013] FIGURES 5A, 5B, 5C, and 5D illustrate schematic representations of an exemplary operation for onboarding-offloading of an exemplary container therefrom according to embodiments of the present disclosure.

[0014] FIGURE 6A illustrates a block representation of an exemplary container transfer mechanism according to embodiments of the present disclosure.

[0015] FIGURE 6B illustrates an isometric view of an exemplary container transfer mechanism according to embodiments of the present disclosure.

[0016] FIGURES 7A illustrates perspective view of an exemplary finger coupling assembly according to embodiments of the present disclosure.

[0017] FIGURE 7B illustrates perspective view of an exemplary conveyor coupler interfacing the conveyor according to embodiments of the present disclosure.

[0018] FIGURES 7C and 7D illustrate partial - perspective, sectioned views of an exemplary conveyor coupler coupled to a conveyor according to embodiments of the present disclosure.

[0019] FIGURE 7E illustrates a perspective view of interaction between an exemplary conveyor coupler and a rotary according to embodiments of the present disclosure.

[0020] FIGURES 7F and 7G illustrate partial - perspective, views of an exemplary container transfer mechanism according to embodiments of the present disclosure.

[0021] FIGURES 7H and 71 illustrate cross section perspective and cross section elevation views, respectively, of a snap shaft taken about plane A-A’ of FIGURE 7B in accordance with some embodiments of the present disclosure.

[0022] FIGURES 8A to 8D illustrate isometric views of an exemplary transfer motor in operational coupling with an exemplary gear box according to embodiments of the present disclosure.

[0023] FIGURES 9A and 9B illustrate isometric views of an exemplary vertical drive assembly according to embodiments of the present disclosure. [0024] FIGURE 9C illustrates a flow diagram of exemplary sequence steps for extension and retraction of a primary shaft and charge toe assembly according to embodiments of the present disclosure.

[0025] FIGURES 10A and 10B illustrate isometric views of an exemplary charge toe assembly according to embodiments of the present disclosure.

[0026] FIGURES 10C and 10D illustrate isometric and perspective views, respectively, of an exemplary charge toe assembly according to embodiments of the present disclosure.

[0027] FIGURES 11 A, 1 IB, 11C, and 1 ID illustrate side views of prospective stages in operation of an exemplary auxiliary mechanism according to embodiments of the present disclosure.

[0028] FIGURES 12A and 12B illustrate perspective views of an exemplary vertical drive assembly with manual access according to embodiments of the present disclosure.

[0029] FIGURES 12C, 12D, and 12E illustrate isometric views of a vertical drive assembly in various stage of extension in accordance with some embodiments.

[0030] FIGURES 13A, 13B, 13C, 13D, 13E, 13F, 13G and 13H illustrate side views of prospective stages in operation of an alternative auxiliary mechanism according to some embodiments.

[0031] FIGURES 14 and 15 show an enlarged view of portions of an alternative auxiliary mechanism according to some embodiments.

[0032] FIGURES 16A, 16B, and 16C, show various views of an example lever of an alternative auxiliary mechanism according to some embodiments.

[0033] FIGURES 17A, 17B, and 17C, show various perspective views of an example alternative auxiliary mechanism according to some embodiments.

[0034] FIGURE 18 shows a perspective view of a charge toe truck and a rear housing of an alternative auxiliary mechanism according to some embodiments.

[0035] FIGURE 19 shows partial and exploded views of one embodiment of an alternative auxiliary mechanism according to some embodiments.

[0036] FIGURES 20A, 20B, 20C and 20D, show side views of an example alternative auxiliary mechanism illustrating a mechanism to allow for easy removal and replacement of a charge two assembly according to some embodiments. [0037] FIGURES 21 A and 2 IB illustrate perspective views of exemplary mobile robots with exemplary contact bumpers according to embodiments of the present disclosure.

[0038] FIGURES 22A and 22B illustrate perspective views of exemplary mobile robots with exemplary status indicators according to embodiments of the present disclosure.

DETAILED DESCRIPTION

[0039] Embodiments of the present disclosure will now be described with reference to the Figures, which in general relate to a mobile robot configured to operate in an order fulfillment facility, and more particularly to embodiments of a mobile robot configured to transport containers within the order fulfillment facility. The present disclosure further relates to opportunistic and protected charging of the mobile robot, while in operation.

[0040] It is understood that the present embodiments may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete and will fully convey the invention to those skilled in the art. Indeed, the embodiments are intended to cover alternatives, modifications, and equivalents of these embodiments, which are included within the scope of the invention as defined by the appended claims. Furthermore, in the following detailed description, specific details are set forth in order to provide an understanding of the present embodiments.

[0041] The terms “top” and “bottom,” “upper” and “lower” and “vertical” and “horizontal” as may be used herein are by way of example and illustrative purposes only and are not meant to limit the description of the embodiments inasmuch as the referenced item can be exchanged in position and orientation. Also, as used herein, the terms “substantially” and/or “about” mean that the specified dimension or parameter may be varied within an acceptable manufacturing tolerance for a given application. In one non-limiting embodiment, the acceptable manufacturing tolerance is ± .25%.

[0042] For the purposes of this disclosure, a connection may be a direct connection or an indirect connection (e.g., via one or more other parts). In some cases, when a first element is referred to as being connected, affixed, mounted or coupled to a second element, the first and second elements may be directly connected, affixed, mounted or coupled to each other or indirectly connected, affixed, mounted or coupled to each other. When a first element is referred to as being directly connected, affixed, mounted or coupled to a second element, then it should be interpreted to mean that there are no intervening elements between the first and second elements (other than possibly an adhesive or melted metal used to connect, affix, mount or couple the first and second elements). [0043] The present disclosure may provide details regarding a movable platform or mobile robot configured to be employed in an automated storage and retrieval system (ASRS).

[0044] This application describes various embodiments of improvements to mobile robots, such as those used in an at least partially automated storage and retrieval system. In some embodiments, improvements are described that relate to (1) mechanisms to assist in the onboarding and/or removal of containers containing items such as products to and from a mobile robot intended to move the containers. In some embodiments, improvements are described that relate to (2) drive mechanisms of the mobile robot to cause the robot to engage with one or more portions of a storage structure and/or pathway of the storage structure to allow for movement of the mobile robot about the storage structure and/or to allow for the charging of an energy storage device of the mobile robot. Further, in some embodiments, improvements are described that relate to (3) mobile robots that have status indicators that can indicate a task being performed by the mobile robot and/or a status of the task being performed. Various other improvements and embodiments are also described herein.

[0045] In some embodiments, a mobile robot configured for use within an automated storage and retrieval system (ASRS) is provided, the mobile robot comprising: a container transfer assembly configured to onboard and/or offload a container on a payload platform of the mobile robot, the container transfer assembly comprising: a platform rail adjoining the payload platform; a conveyor disposed about the platform rail; a first conveyor coupler coupled to the conveyor and configured to travel with the conveyor; and a first container engagement member coupled to the first conveyor coupler and configured to travel with the first conveyor coupler and the conveyor, the first container engagement member configured to interface with a first portion of the container, wherein operational interface between the first container engagement member and the first portion of the container facilitate onboarding and/or offloading of the container to/from the payload platform.

[0046] In some embodiments, an automated storage and retrieval system comprises: a storage area configured to store containers having items contained therein; and a plurality of mobile robots, each comprising a container transfer assembly configured to onboard and/or offload a container on a payload platform of a mobile robot, the container transfer assembly of each mobile robot comprising: a platform rail adjoining the payload platform; a conveyor disposed about the platform rail; a first conveyor coupler coupled to the conveyor and configured to travel with the conveyor; and a first container engagement member coupled to the first conveyor coupler and configured to travel with the first conveyor coupler and the conveyor, the first container engagement member configured to interface with a first portion of the container; wherein operational interface between the first container engagement member and the first portion of the container facilitate onboarding and/or offloading of the container to/from the payload platform.

[0047] In some embodiments, a method for use a mobile robot within an automated storage and retrieval system (ASRS) is provided, the method comprising: supporting a container on a payload platform of the mobile robot; moving a conveyor and a first conveyor coupler coupled to the conveyor, wherein the conveyor is disposed about a platform rail of a container transfer assembly of the mobile robot, wherein the platform rail adjoins the payload platform of the mobile robot; interfacing, with a first container engagement member coupled to the first conveyor coupler that moves with the first conveyor coupler and the conveyor, a first portion of the container; and moving, through movement of the first container engagement member after interfacing the first container portion, the container in a direction to onboard or offload the container to/from the payload portion.

[0048] In some embodiments, a mobile robot configured to travel about a passage of an automated retrieval and storage system, the passage comprising a track and a charge rail is provided, the mobile robot comprising: a shaft (131) configured to extend or retract along an axis; a motor (120) configured to transfer linear motion to the shaft; a charge contact (185) configured to extend and retract with the shaft; and an auxiliary coupling mechanism (142) disposed between the shaft and the charge contact, the auxiliary coupling mechanism configured to augment linear motion of the charge contact to connect or disconnect with the charge rail; wherein the motor is configured to cause the shaft to extend and retract about the axis to extend and retract the charge contact toward and away from the track and the charge rail; wherein, at a dual motion point (200), the auxiliary coupling mechanism is configured to provide additional extension and retraction of the charge contact toward and away from the track and the charge rail; and wherein complete extension of the shaft and the auxiliary coupling mechanism causes the charge contact to engage the charge rail.

[0049] In some embodiments, a method for use with a mobile robot configured to travel about a passage of an automated retrieval and storage system, the passage comprising a track and a charge rail is provided, the method comprising: transferring, using a motor (120), linear motion to a shaft to extend or retract the shaft (131) and a charge contact (185) along an axis toward and away from the track and the charge rail; providing, at a dual motion point (200) and by an auxiliary coupling mechanism disposed between the shaft and the charge contact, additional extension and retraction of the charge contact toward and away from the track and the charge rail, wherein the auxiliary coupling mechanism augments linear motion of the charge contact to connect or disconnect with the charge rail; and engaging, at complete extension of the shaft and the auxiliary coupling mechanism, the charge contact with the charge rail.

[0050] In some embodiments, a mobile robot configured to perform a plurality of tasks in an automated storage and retrieval system having a multilevel structure with aisles and vertical or inclined passages therein is provided, the mobile robot comprising: a drive assembly configured to maneuver the mobile robot in the multilevel structure; a status indicator disposed on exterior of the mobile robot; and a controller configured to implement a plurality of tasks and control the status indicator to indicate one or more of a task of the plurality of tasks being performed and a status of the task of the plurality of tasks being performed.

[0051] In some embodiments, a method of use with a performance of a plurality of tasks by a mobile robot in an automated storage and retrieval system having a multilevel structure with aisles and vertical or inclined passages therein is provided, the method comprising: maneuvering, using a drive assembly, the mobile robot in the multilevel structure; executing, by the mobile robot, at least one of a plurality of tasks; and controlling a status indicator disposed on exterior of the mobile robot to indicate one or more of a task of the plurality of tasks being performed and a status of the task of the plurality of tasks being performed.

[0052] In some embodiments, a method of communicating a real time task of a mobile robot, the mobile robot configured to perform a plurality of tasks to fulfill an order in an automated storage and retrieval system, the mobile robot comprising a local controller configured to communicate with a central control system, the local controller configured to operate at least one status indicator located on an exterior of the mobile robot is provided, the method comprising: receiving the order via the central control system; generating, within the central control system, a workflow setup with the plurality of tasks to fulfill the order; distributing the plurality of tasks to one or more mobile robot; receiving assigned tasks to the mobile robot, via the local controller; operating a status indicator, via the local controller; and performing the assigned task; wherein the status indicator indicates one or more of the assigned task being performed and a status of the assigned task being performed.

[0053] One or more of the disclosed embodiments may be integrated with automated storage and retrieval systems, picking systems or otherwise as disclosed in U.S. Patent No. 10,179,700 issued January 15, 2019, and entitled “Automated System for Transporting Payloads”, U.S. Patent No. 10,435,241 issued October 8, 2019 and entitled “Storage and Retrieval System,” U.S. Patent No. 11,142,398 issued October 12, 2021 and entitled “Order Fulfillment Center,” U.S. Patent No. 11,203,486 issued on December 21, 2021, U.S. Patent Application Publication No. US20200087067 published on March 19, 2020, the disclosure of all of said patent publications are hereby incorporated by reference in their entirety.

[0054] In some embodiments, the disclosure relates to a mobile robot and/or a fleet of mobile robots configured to operate in an ASRS. Typically, an ASRS may include one or more functional sections that may be accessible by mobile robot/s to facilitate desired workflow in the ASRS. The ASRS may be built to suit an autonomous or partially autonomous facility such as, but not limited to, an order fulfillment facility. One or more functional sections in the facility may serve as storage sections to store a plurality of containers. Storage sections may be temperature regulated and may be insulated from one temperature zone to another. Storage sections may further include horizontal rows and vertical paths to access containers therein. Mobile robots may comprise committed horizontal and/or vertical drive assemblies to enable traveling the horizontal rows and vertical paths in the ASRS. These containers may be used to store inventory and/or articles therein. Mobile robots may provide platforms to house containers when in transit. The present disclosure describes mechanism/s provided to onboard and/or offload a container to or from mobile a robot platform. Related mechanisms may involve appropriate alignment of a mobile robot along with static and/or dynamic components responsible for container transfer. The present disclosure further discusses safe charging mechanism/s for mobile robot/s. More particularly, the present disclosure discusses safe transition of a mobile robot between horizontal drive and vertical drive assemblies present therein. The present disclosure discusses container transfer and transitioning from a charging mode to a discharging mode when switching between vertical and horizontal drives along with related mechanisms to allow required operation of the mobile robot.

[0055] FIG. 1 depicts an illustration of an exemplary multilevel structure 10, as may be provided in an ASRS. Multilevel structure 10 may comprise vertical columns 25 and horizontal rows 35 that may jointly form various sections, such as but not limited to, storage sections, travel pathways, deck area, etc. Exemplary mobile robot/s 53 may operate within and/or proximal to multilevel structure 10. Mobile robot/s 53 may be configured to receive instructions from a central controller that may be remotely operated. These instructions may include tasks to transfer container/s between pre-determined locations. Additionally, exemplary mobile robot 53 may include one or more drive mechanism/s to move along horizontal rails and/or vertical/inclined pathways to perform assigned tasks. Energy storing devices and/or charging capability may be provided for mobile robot 53 to replenish as desired. Containers may be inducted in multilevel structure 10 and may store fungible and/or non-fungible items therein. Induction of containers with or without said fungible or non-fungible items may be performed at various workstations provided along multilevel structure 10. Some workstations may receive containers via mobile robots 53 to prepare pre-determined collection of fungible and/or non-fungible items.

[0056] Referring now to FIG. 2, a portion of the exemplary multilevel structure 10 of FIG. 1 is illustrated, which includes horizontal rail/s 47 and vertical rail/s 49. Horizontal rail/s 47 and vertical rail/s 49 may contribute to form a frame or portion of a frame of multilevel structure 10. Multilevel structure 10 may be broadly divided into, but not limited to, sections committed to storage area 37 for housing container/s 75 and travel path/s 35. Further, as mentioned earlier, storage area 37 may be further sectioned into temperature regulated sections to provide prescribed environment for items or articles stored therein. Container/s 75 may house item/s to be stored. The container/s 75 and may be stored within designated sections of storage area 37 of multilevel structure 10. In one example, container/s 75 may be stationed along horizontal rail/s 47 and adjacent to travel path/s 35. Disposition and retention of container/s 75 may be influenced by accessibility of container/s 75 by mobile root/s 53. Mobile robot 53 may operate to collect, transfer and/or distribute container/s 75 within the ASRS. Movement of mobile robot/s 53 may be autonomous, partially autonomous and/or administered by control system 55 configured to manage and direct movement of specific mobile robot/s 53 to fulfill pre-determined tasks. Mobile robot/s 53 may travel on horizontal rail/s 45 and may station to onboard/offload a specific container of containers 75. FIG. 2 depicts an example positioning of mobile robot 53 when in operation. Further, mobile robot 53 may halt adjacent to a directed container 75 and align to safely receive said container 75 thereon. Later sections of this disclosure discuss an exemplary container transfer mechanism and related component/s to safely onboard, offload or transfer container/s 75 from one location to another within the ASRS via mobile robot 53.

[0057] TOTE TRANSFER MECHANISMS

[0058] Referring now to FIG. 3A and FIG. 3B, there is shown isometric views of exemplary mobile robot 53 carrying an exemplary container 75. Mobile robot 53 may include horizontal drive assembly 63 and vertical/ inclined drive assembly 67 configured to facilitate operation of mobile robot 53 along horizontal rails 47 and vertical rails 49, respectively. In some embodiments of mobile robot 53, horizontal and vertical drive assemblies may comprise distinct components. In another embodiment, shared or partially shared sets of components may be employed to form horizonal and vertical drive assemblies therein. Mobile robot 53 may further comprise a region dedicated to house at least one container 75 thereon. One or more transfer mechanisms may be employed to onboard and/or offload container/s 75 (e.g., without or with minimal wear to container 75 and/or mobile robot 53). Mobile robot 53 may provide a container receptacle portion such as, but not limited to a payload platform to receive container 75 via one or more transfer mechanism/s. Beside the transfer mechanism/s, exemplary mobile robot 53 may also comprise retaining elements to assist in removably housing container 75 on payload platform and avoid displacement or damage when mobile robot 53 is in motion. Dimensions and/or scale of container 75 may be complementary to that of payload platform of mobile robot 53. Additionally, container 75 may be composed to safely secure items or articles therein when in transit.

[0059] Referring now to FIG. 4A and FIG. 4B, there is shown a perspective view of incoming and/or outgoing container 75 from exemplary mobile robot 53. There is also illustrated primary reference axis 59 disposed along length of mobile robot 53. Primary reference axis 59 may divide mobile robot 53 to illustrate two sides being referenced as first side 59A and second side 59B. Transfer mechanism 78 may be disposed mostly perpendicular to primary reference axis 59. Additional components forming transfer mechanism 78 may be functionally distributed across payload platform 77 to allow appropriate onboarding, retention or offloading of container 75. Depicted positioning of payload platform 77 and transfer mechanism 78 may provide entrance/exit ways on first side 59A as well as on second side 59B to load or offload container 75 from either side of mobile robot 53.

[0060] Referring now specifically to FIG. 4B, there is shown an example transfer mechanism 78 configured to functionally engage with exemplary container 75. In one embodiment, transfer mechanism 78 may operate to receive and retain container 75 onto payload platform 77. Payload platform 77 may be dimensioned and/or scaled to complement the geometry of container 75. One or more transfer features may also be provided on payload platform 77 to assist transfer mechanism 78 in transferring container 75 in or out of mobile robot 53 (e.g., without or with minimal wear to container 75 and/or to mobile robot 53 and/or to any portion of multilevel structure 10, shown in FIGS. 3A and 3B). Platform rail/s 79 may be disposed on opposing sides of payload platform 77. Various parameters of platform rail/s 79 such as, but not limited to, height from payload platform

77, width, length with respect to length of payload platform 77, surface area therewith, etc., may be adjusted to provide vertical stiffness to payload platform 77. Further, platform rail/s 79 may be constructed to optionally serve to guide positioning of container 75 therewith. In one example, platform rail/s 79 may also serve as travel guides for conveyer belts 72A, 72B to be housed and operate along length of the platform rails/s 79. Platform rail/s 79 and components coupled therewith may be arranged to be mirror images. Further, platform rails 79 may serve as mounts to retain a plurality of components forming transfer mechanism 78 or portion of transfer mechanism

78. These components may be, but not limited to, a first set of conveyer belt/s 71 A, 7 IB, a second set of conveyer belt/s 72A, 72B, first fmger/s 90, second finger/s 93, first set of rotary/s 87A, 87B, and second set of rotary 89A, 89B. Additional components may functionally engage with platform rail/s 79 to couple with the above stated and any other components. Transfer mechanism 78 may further comprise at least one transfer motor 95 configured to transfer torque to transfer shaft 85. Transfer shaft 85 may be disposed to functionally couple opposing rail platform/s 79 and components mounted therewith. Exemplary gearbox 91 may be intermediately positioned between transfer motor 95 and transfer shaft 85 to attain pre-determined speed and torque transferred to transfer shaft 85. Transfer motor 95 may be an AC or DC motor configured to rotate in either direction for torque transfer.

[0061] Continuing to refer to FIG. 4B, wherein exemplary container 75 may comprise mostly rigid walls protruding from a base to define a container space 74 configured to receive a plurality of items such as but not limited to, fungible goods, non-fungible goods, etc. In one example, container 75 may comprise partitions or receive sub-containers (not shown) to retain items therein. In other examples, container 75 may provide additional accessories for efficient handling and/or stacking of container/s 75. Container 75 may be further configurable to complement and/or align with receiving, retaining or transfer features provided on mobile robot 53. Container walls 83A and 83B may provide interfacing features to functionally engage with one or more components of transfer mechanism 78. In the present disclosure, receptacle/s 86 may be provided along opposing wall/s 83 A, 83B. Further, receptacle/s 86 may be constructed to interface with first transfer finger 90 and/or second transfer finger 93 to onboard or offload container 75 onto payload platform 77. [0062] Referring now to FIG. 5A, 5B, 5C, and FIG. 5D, there is shown side view of example transfer mechanism 78 in operation. In one example task for mobile robot 53, container 75 may be inducted into multilevel structure 10 (shown in FIG. 1) and may be transferred to storage section 37. As discussed above, exemplary container 75 may provide receptacle/s 86 disposed on opposing walls 83A, 83B. With regards to FIG. 5A to FIG. 5D, opposing side 83A is shown with respective receptacle/s 86 located at opposing edges of wall 83A. Likewise, the side view of mobile robot 53 illustrates one of platform rail/s 79 with one of second set of conveyer belt/s 72A. Transfer mechanism 78, further comprises transfers fingers, individually referenced as first finger 90 and second finger 93. Transfer fingers 90, 93 may be operatively coupled to one of a second set of conveyer belt/s 72A. Consequently, movement of one of the second set of conveyer belt/s 72A may cause movement of transfer fingers 90, 93. Further, positioning of transfer fingers 90, 93 on one of the second set of conveyer belt/s 72A may be dependent on positioning of receptacle/s 86 (also referred to as cavity portions) and/or concave detents 502 (also referred to as detent portions) on container 75. To transfer container 75 onto mobile robot 53 or off mobile robot 53, transfer finger 90 may interface with receptacles 86 on container 75 and transfer finger 93 may interface with concave detents 502 on container 75. This interaction is illustrated to be sequential such that first transfer finger 90 may interface with receptacle 86 that may be proximal thereto followed by interfacing of second transfer finger 93 with subsequent detent 502. One of second set of conveyer belt/s 72A may rotate in direction 97R causing subsequent movement of transfer finger 90, 93. First transfer finger 90 may interact with proximal receptacle 86 to move container 75 in linear direction 97L, causing container 75 to onboard mobile robot 53. One of the second set of conveyer belt/s 72A may halt when container 75 has completely onboarded payload platform 77. FIG. 5C illustrates container 75 received on payload platform 77 of mobile robot 53. Continuing motion one of second set of conveyer belt/s 72A in rotary direction 97R may further move container 75 to side 59A. For example, as shown in FIG. 5D, a roller 504 of transfer finger 93 engages the concave detent 502 to push the container 75 in direction 97L to side 59A. In case of reverse rotatory motion of one of second set of conveyer belt/s 72A, container 75, if positioned on side 59A of primary reference axis 59, may onboard on payload platform 77. Continuing reverse rotary motion one of the second set of conveyer belt/s 72A may cause container 75 to offload payload platform 77 to side 59B. It should be noted that supplementing features may be provided on transfer mechanism 78 and/or container 75 to enhance transfer mechanism and/or process for container 75. Further details describing the movement of the conveyor and transfer fingers 90, 93 as they interface with receptacles 86 and detents 502 are provided in U.S. Publication No. US2019/0270591, published September 5, 1999 (see FIGS. 67A-67O), which is incorporated herein by reference.

[0063] Referring now to FIG. 6A - 6B, FIG. 6A depicts a block representation of the transfer mechanism 78 and components therein. The block representation is merely provided for simplification and explanation of the transfer mechanism 78 and should not be construed as limiting in any way. Transfer mechanism 78 may be divided into more than one mechanism/assembly. In one example, the transfer mechanism 78 may be divided into torque transfer assembly 78A and container transfer assembly 78B. It should be noted that additional assemblies may contribute to form the transfer mechanism 78 to complement and/or supplement torque transfer and/or container transfer mechanism/s. Assemblies 78A and 78B along with any other complementing assemblies may functionally interact to achieve onboarding or offloading of container 75 to or from the payload platform 77. Torque transfer assembly 78A may comprise torque transfer motor 95 in operational engagement with at least one gearbox 91 configured to alter the incoming torque and speed to a pre-determined value. Torque transfer motor 95 may be an AC motor or a DC motor. In the present disclosure, torque transfer motor 95 may be AC servo motor or a DC servo motor configured to provide bidirectional rotary motion. Torque transfer assembly 78A may further comprise transfer shaft 85 coupled to a gearbox 91 via first set of rotary 87A, 87B. The first set of rotary 87A and 87B may be positioned along the transfer shaft 85 to advance a pre-determined torque and speed from transfer shaft 85 to remaining components of the transfer mechanism 78. Container transfer assembly 78B may comprise a second set of rotary 89A, 89B, a second set of conveyers 72A, 72B and, but not limited to, transfer fingers 90, 93. First transfer belt/s 71A and 71B may functionally couple first set rotary 87A with second set rotary 89A and other first set rotary 87B with other second set rotary 89B, respectively.

[0064] Continuing to refer to FIG. 6 A, there is shown a secondary axis 70 disposed parallel to the platform rail/s 79 and may partition transfer mechanism 78 into section 70A and section 70B. Exemplary container 75 (shown in FIG. 4A ,4B) may travel along the secondary axis 70 to onboard or offload payload platform 77. It should be noted that secondary axis 70 with section 70A and section 70B, is illustrated to better explain distribution and/or operation of components forming the transfer mechanism 78. The above illustrated axes and/or related sections should not be construed to limit this disclosure in any way. FIG. 6A depicts section 70A mostly comprising the torque transfer assembly 78A along with portion of the container transfer assembly 78B. Torque transfer assembly 78A may be proximal to the payload platform 77 and operatively interact with container transfer assembly 78B. Further, section 70B may comprise the remainder of the container transfer assembly 78B. As discussed earlier, the present disclosure illustrates distribution and disposition of components forming the container transfer assembly 78B along payload platform 77 to safely onboard or offload the container 75 thereon. More specifically, components and distribution of components forming the container transfer assembly 78B in section 70A may be mirror image of components and distribution of components forming container transfer assembly 78B in section 70B. Components of container transfer assembly 78B in section 70A and components of the container transfer assembly 78B in section 70B may function unanimously to transfer container 75 in and out of the mobile robot 53. Torque transfer shaft 84 may be disposed to connect the container transfer assemblies 78B in section 70A and section 70B to achieve unanimous operation thereof.

[0065] Continuing to refer to FIG. 6A, the transfer shaft 85 may link torque transfer assembly 78 A with container transfer assembly 78B. Consequently, pre-determined torque and speed from transfer motor 95 may be advanced to the container transfer assemblies 78B disposed in section 70A as well as section 70B. One rotary of the first set of rotary 87A may be disposed in section 70A and another rotary of the first set of rotary 87B may be disposed in section 70B. Moreover, first set of rotary 87A, 87B may be in direct engagement with the transfer shaft 85 and hence may receive pre-determined torque and speed from the torque transfer assembly 78A. One of the second set of rotary 89A may be disposed in section 70A and another of the second set of rotary 89B may be disposed in section 70B. Further, one of the first set of rotary 87A may functionally couple with one of the second set of rotary 89A via first conveyer 71 A. Similarly, another of first set of rotary 87B may functionally couple with another of second set of rotary 89B via second conveyer 7 IB. Consequently, pre-determined torque and speed may be transferred from the torque transfer assembly 78A to the container transfer assembly 78B and allow regulation in motion of transfer fingers 90 and 93. It should be noted that, the above-described block components are meant to describe forces acting in translating to and achieving transfer of container 75. Variation in scale and/or number of components illustrated should be within scope of the above discussion. In one such example variation, container transfer assembly 78B may comprise additional rotary for motion of second set of conveyors 72A, 72B. Moreover, length of first set of conveyers 71A, 71B and/ or second set of conveyers 72A, 72B may be alterable.

[0066] Referring now to FIG. 6B, there is shown a perspective view of exemplary components forming a transfer mechanism 78. Transfer finger/s 90, 93 may interface with complementing features on an example container 75 (shown in FIG. 4A, 4B) to onboard or offload the container 75. Second set of conveyers 72A, 72B may firmly retain transfer fingers 90, 93 thereon such that motion of second set of conveyers 72A, 72B leads to desired motion of transfer fingers 90, 93. The first transfer finger 90 and the second transfer finger 93 may be positioned along lengths of second set of conveyers 72 A, 72B to sequentially interface with container 75 when onboarding or offloading it to and from mobile robot 53. In one example, transfer fingers 90, 93 may be disposed generally opposing one another and extending away from the surface of the second set of conveyers 72A, 72B. Platform rail/s 79 may provide a region or channel along which second set of conveyer belt/s 72A, 72B may be operationally disposed. Moreover, platform rail/s 79 may provide guides to retain the second set of conveyors 72A and 72B at desired operating position. A second set of rotary 89A, 89B may assist in torque transmission to a second set of conveyers 72A and 72B. In some embodiments, one of the second set of rotary 89A may be in operative coupling with the one of second set of conveyers 72A and, similarly, another of the second set of rotary 89B may be in operative coupling with another of the second set of conveyers 72B. The first set of rotary 87A, 87B may be coupled via a transfer shaft 85 such that similar torque and/or rotary speed may be transferred to the first set of rotary 87A, 87B. The transfer shaft 85 may also be coupled to motor 95 to receive required torque for rotary motion of the second set of conveyers 72A, 72B. The transfer shaft 85 may be coupled to motor 95 via gear box 91 to alter incoming torque and/or speed to required value. It is noted that the first transfer finger 90 and the second transfer finger 93 may be more generally referred to herein as a first container engagement member and a second container engagement member that are coupled to the conveyor with a conveyor coupler 94. The container engagement members rotate with the conveyor and have a portion (e.g., rollers 714) that engage a corresponding portion of a container to be loaded to or unloaded from the payload platform 77. Generally, container engagement member extend from the conveyor and conveyor coupler a distance to engage the container.

[0067] Referring now to FIG. 7A, there is shown a perspective view of a portion of container transfer assembly 78B (FIG. 6A) in accordance with some embodiments. Exemplary platform rail s/s 79 are disposed adjacent to conveyer 72A and provide a channel therebetween to facilitate operation of conveyer 72A. As discussed earlier, transfer fingers 90, 93 may interface complementing features of container 75 (FIGS. 4B through 5D) to perform the onboarding or offloading thereof. In some embodiments, the first finger 93 may be directly coupled to the conveyer 72A. In some embodiments, the fingers 90, 93 may be connected to a finger coupling assembly 73 that includes a conveyor truck 94 which is coupled to and moves with the conveyor 72A. In some embodiments, the conveyor truck 94 may be generically referred to as a conveyor coupler or carrier. As such, while this application makes reference throughout to trucks 94 of the figures, it is understood that they may be referred to as conveyor couplers. Fingers 90, 93 may be affixed to the respective conveyer 72A, 72B at pre-determined locations to achieve a suitable interface with the complementing features of example container 75 (shown in FIG. 4A, 4B). Exemplary rotary 89A may be positioned at longitudinal ends of frame 99 to allow conveyer 72A to loop around and assist in linear motion of the truck 94. In the present embodiment, transfer fingers 90, 93 may be coupled with second set of conveyers 72A, 72B via respective trucks 94. Truck 94 may serve as an intermediate coupling component to engage one of second set of conveyers 72A with transfer fingers 90, 93 such that motion of conveyer 72A causes motion of transfer finger/s 90,93. When the example conveyer 72A is not in motion, the finger coupling assembly 73 can continue to retain the connected coupled transfer finger 93 in a generally rigid state and avert misalignment of the conveyer 72A and/or the transfer finger 93. FIG. 7A depicts one truck 94 to couple finger 90 with conveyer 72A and another truck 94 to couple finger 93 with conveyer 72A, at distinct locations. Although, the two example truck/s 94 may serve as separate coupling components for finger 90 and finger 93, the coupling features provided on truck 94 to interface conveyor 72A are mostly similar. In some embodiments, truck 94 comprises bearing/s 98 that allow the truck 94 to travel with the rotary motion of conveyor 72A. The interior of platform rail/s 79 may provide passage 79P to functionally accommodate the bearing/s 98, thereby allowing uninterrupted motion of truck 94. The truck 94 may be generally static in relation to conveyer 72A and may move with conveyer 72A allowing truck 94 and hence, transfer finger 93, to loop around frame 99. During container transfer, a portion of the truck 94 operationally interfaces with example rotary 89A when it reaches the location where the conveyer 72A loops around the rotary/s 89A (see FIG. 7E). Such operational interface between the truck 94 and the respective rotary/s 89A facilitates continuous movement of the transfer fingers 90, 93 around the frame 99 (FIG. 6B). Consequently, the transfer finger/s 90, 93 can perform a complete or partial cycle depending on the motion of the conveyer 72A around frame 99. Interaction between truck 94 and exemplary rotary 89A is discussed in further detail below. Also, as shown, the first finger 90 has rollers 714 at its distal end and the second finger has roller 716 at its distal end. It is noted that in some embodiments, the conveyor 72A is designed to limit stretching or distortion over time. For example, in some embodiments, the conveyor 72A is a belt and comprises a material made of polyurethane and aramid tensile member cords/ Kevlar strands.

[0068] Referring now to at least FIG. 7B, there is shown an exploded view of example finger coupling assembly 73 having an example truck 94 to depict a general assembly thereof and operational interface with conveyor 72A. As discussed earlier, truck 94 allows mostly rigid coupling between finger/s 90, 93 (FIG. 7A) and conveyor 72A. Robustness of the coupling between finger/s 90, 93 and conveyor 72A may impact the timing and accuracy of the interaction between fingers 90, 93 and the corresponding features on example container 75 (FIG. 4B). This interaction may consequently impact the container transfer operation. Hence, operational interface between the example truck 94 and conveyor 72A may be essential in some embodiments in achieving required coupling between the finger/s 90, 93 and conveyor 72A.

[0069] Continuing to refer to FIG. 7B, example truck 94 may be composed of a first truck component 94A and second truck component 94B that jointly secure at least a portion of conveyer 72A. First and second truck components 94 A, 94B may further comprise complementing apertures 100 that may serve as receptacles to retain ends of a snap shaft 97. In the present embodiment, exemplary snap shaft 97 includes a top part 97A that generally resides on the outward face of conveyor 72A and a bottom part 97B disposed generally between teeth of conveyor 72A. When assembled, the snap shaft 97 rotates within the receptacle or aperture 100 to facilitate movement of the truck 94 about the curved portions of the conveyor travel path. The top and bottom parts of snap shaft 97 may secure the conveyor coupler 94 to conveyer 72A at a predetermined location. The first truck component 94A and the second truck component 94B join to retain snap shaft 97 and accommodate ends of the snap shaft 97 in respective apertures 100. In some embodiments, as shown in the cross sectional view of FIG. 7H taken at plane A- A’ of FIG. 7B, an interfacing surface 730 of the first part 97A conforms to a top surface of the conveyor 72A, e.g., is a flat surface, and may also include one or more gripping features such as small bumps, spikes, etc. (not shown). In some embodiments, an interfacing surface 732 of the second part 97B conforms to a bottom surface of the conveyor 72A, e.g., is a concave surface with ledges 734 shaped to receive a tooth 740 and a portion 742 between the tooth and adjacent teeth, and may also include one or more gripping features such as bumps, spikes, etc. (not shown). As can be seen, in the illustrated embodiment, the ledges 734 of the second part 97B have a curvature to allow the conveyor 72A and snap shaft 97 to rotate about the ends of the assembly such as shown in FIG. 7C and FIG. 7D. Similarly, edges 736 of the interfacing surface 730 are rounded to also assist with full motion of the snap shaft 97 about the travel path of the conveyor 72A.

[0070] Referring back to FIG. 7B, a first set of bearing/s 98 are generally disposed around ends of snap shaft 97, more specifically, around the ends that extend out of apertures 100. A first set of washers 702 (e.g., thrust washers) fit about the receptacle or aperture 100 and contact a lip portion 702A of the interior conveyor passage 79P when assembled (see FIG. 7A) to provide load distribution of the truck 94 within the interior conveyor passage 79P and reduce wear of the truck.. In some embodiments, the washers 702 limit moments from external forces on the finger 90 from translating to the conveyor 72 A. Additional post/s 101 (note that the post 101 of truck component 94A is not visible in the view of FIG. 7B) may be provided on truck 94 to accommodate a second set of bearings 98 and additional set of washers 702 (e.g., thrust washers). These additional washers 702 also provide load distribution of the truck 94 within the interior conveyor passage 79P and reduce wear. In some embodiments, the load distribution limits the transfer of moments from external forces on the fingers 90, 93 from being translated to the truck 94 or conveyor passage 79P. In some embodiments, the washers 702 are made of oil impregnated or self-lubricating plastic. In some embodiments, post/s 101 are optionally inherent to the body of first and second truck component 94 A, 94B. In other embodiments, the post/s 101 may be separate components inserted into a receiving well or receptacle of the first and second truck component 94 A, 94B. As discussed earlier, bearings 98 may travel in passage 79P provided on platform rails/s 79, for operation of truck 94. In some other embodiments, bearings 98 may be, but not limited to, ball bearing, roller bearing or similar components to inhibit friction between movement of the truck 94 and surface of platform rail/s 79. In some embodiments, the bearings 98 contact the floor 98A and/or ceiling 98B of the interior conveyor passage 79P (see FIG. 7A).

[0071] Referring now to FIG. 7C and FIG. 7D, there is shown a partial cross section of example truck 94 at the first location 103 and a partial cross section at a second location 105, respectively. The first truck component 94A and the second truck component 94B mate to mostly secure to conveyor 72A. In some embodiments, a screw 704 is threaded through the first truck component 94 A and into the second truck component 94B. Truck 94 and/or components of truck 94 may contact example conveyor 72A at one or more locations thereof. As discussed earlier, in the present embodiment, snap shaft 97 secures to conveyor 72A and first truck component 94A and second truck component 94B unite to partially or completely retain snap shaft 97 while allowing rotation of the snap shaft 97 This engagement allows truck 94 to travel in conjunction with conveyor 72A. Perspective view in FIG. 7C depicts partial cross section of truck 94 at the first location 103 to show coupling between the conveyor 72A, snap shaft 97 and the truck components 94 A, 94B. The top and bottom parts of snap shaft 97 (as discussed with reference to FIG. 7B, FIG. 7H and FIG. 71 may be fastened to rigidly secure at least a portion of conveyor 72A, e.g., using any connection device, such as screws 706. Further, in some embodiments, bushings 718 (e.g., made of self- lubricating plastic/oil impregnated plastic) extend around the snap shaft 97 to assist with rotation of the snap shaft 97 and reduce friction and wear of the snap shaft 97 within the truck 94. In the present embodiment, the top and bottom parts of snap shaft 97 are fastened such that snap shaft 97 resides about a given tooth and between adjacent teeth of conveyor 72A. In other embodiments, interfacing surfaces between the snap shaft 97 and conveyor 72A may be adjusted to achieve necessary coupling, see FIG. 7H and FIG. 71, for example. As discussed earlier, ends of snap shaft 97 reside in and are rotatable within corresponding apertures 100 that are provided on truck components 94A, 94B. Further, bearings 98 are positioned at the ends of snap shaft 97 to reduce friction between truck 94 and passage 79P (FIG. 7A) during container transfer operation, and washers 702 are provided for load distribution of the truck 94 within the interior conveyor passage 79P and to reduce wear of the truck..

[0072] FIG. 7D depicts a partial cross section of example truck 94 at a second location 105 thereof. As previously discussed, truck components 94A and 94B join to secure conveyor 72A (e.g., using a screw 704 or other connection device) and consequently establish a coupling therewith. This coupling may facilitate contact between conveyor 72A and one or more parts of truck 94. In the present embodiment, location 105 shows a portion of conveyor 72A housed within or secured by truck components 94A, 94B but is not in contact therewith. In the illustrated embodiment, a snap shaft is not provided at the second location 105; however, it is understood that in some embodiments an additional snap shaft 97 could be employed at the second location 105. Additionally, the first and second truck components 94 A, 94B provide posts 101 that may be integral to (or inserted into) the body of the first and second truck component 94A, 94B. These posts serve to mount another set of bearing/s 98 and another set of washers 702 for efficient operation of truck 94. Functionally stable connection between truck 94 and conveyor 79A may be achieved by optimal distribution of loads around snap shaft 97. In other embodiments, contact location between one or more parts of truck 94 and/or positioning of snap shaft 97 thereof, may be altered to achieve required functionally stable connection between truck 94 and conveyor 72A. These and similar alterations should be considered obvious to the one skilled in the art.

[0073] In the illustrated embodiments, the truck 94 provides a coupling between the respective fingers 90, 93 and the conveyors 72A, 72B. The truck 94 is assembled and configured to couple to the conveyor 72A. And the fingers 90, 93 are configured to couple to the truck 94. For example, as shown in FIGS. 7A, 7B, and 7C, screws 708 are threaded through apertures 710 of the fingers 90 into threaded openings 712 of the second truck component 94B. In this way, the fingers 90, 93 are secured to the trucks 94.

[0074] Referring now to FIG. 7E, there is shown a partially exploded view of example truck 94 to illustrate interaction between truck 94 and example rotary 89A when the conveyor 72A advances to loop around rotary 89A. In one example, the conveyor 72A may be a timing belt with predetermined number of conveyor teeth and required pitch therebetween. Rotary 89A comprises rotary teeth distributed to comply with pitch of conveyor 79A. During container transfer operation, conveyor 79A loops around frame 99 (FIG. 6B) which requires truck 94 to cooperate with rotary 89A without hindering the operation. In the present example, rotary 89A provides one or more notches 88 to, at least partially, accommodate at least a portion of truck 94. As described earlier, snap shaft 97 secures a portion of conveyor 72A to establish connection between truck 94 and conveyor 72A. During transfer operation, subsequent notch 88 receives a portion of truck 94 that houses snap shaft 97. Snap shaft 97 may temporarily house in respective notch 88 of rotary 89A (the snap shaft rotating with the notch 88 about the rotary) until completion of pre-determined rotation, following which snap shaft may release from respective notch to continue linear motion of truck 94. This allows continuous motion of conveyor 72A in clockwise or anticlockwise direction around frame 99 (FIG. 6B). Rotary teeth corresponding to notch 88 on example rotary 89A may be altered to facilitate fluent receival, retainment and retrieval of snap shaft 97 therefrom. Number, location and dimensions of notches 88 on rotary 89A may be a function of factors such as, but not limited to, number of conveyor teeth, number position and dimension of snap shaft 97 on conveyor 72A, position and dimensions of truck 94 on conveyor 79A.

[0075] In the present disclosure, one of the second set of conveyor belts 72A may be a timing belt and the exemplary rotary 89A may be synchronous rotary. In some embodiments, conveyor 72A comprises a material made of polyurethane and aramid tensile member cords/ Kevlar strands. [0076] Consequently, conveyer 72A may comprise nubs with belt pitch being proportional to pitch of teeth on second set of rotary 89A. Said pitch relationship between conveyor-rotary may allow efficient energy use in torque transfer. Additionally, pitch proportionality may enable accurate determination of location of the transfer finger 93 and/or transfer finger 90 along conveyer 72A. Pitch proportionality may be extended to an encoder gear 81 to further assist in location determination of the transfer fmger/s 90, 93. It should be noted that variations may be made to pitch relationship between above mentioned components to further refine or modify location determination of the transfer finger 90, 93. Any alternations to gear teeth of the pinion 80 and/or the encoder gear 81 may assist in refining location and timing determination for transfer fingers 90,93 in the transfer mechanism 78.

[0077] In some embodiments, truck 94 includes features or portions configured to moveably contact travel guide portions of the platform rail 79. For example, surfaces of the platform rail 79 facing the conveyor 72A and truck 94 form travel guide portions to assist in guiding travel of the truck 94 and conveyor 72A. In some embodiments, opposing travel guide portions of opposing platform rails 79 cooperate to provide a travel path or passage 79P for the truck 94 and conveyor 72A. In some embodiments, travel guide portions that movably engage portions of truck 94 include at least lip portions 702A, floor 98A, floor 98B (see FIG. 7A). In some embodiments, example portions of the truck 94 that movably contact travel guides of the platform rail 79 include one or more bearings 98 and/or washers 702, although it is understand that other surfaces of the truck 94 may be shaped or configured to movably contact the travel guides. In some embodiments, the portions of the truck 94 contacting the travel guides comprise materials designed for wear resistance and easy movement, such as oil impregnated or self-lubricating plastic materials. In some embodiments, at least one purpose of the movable contact engagement of the contact portions of the truck 94 and the travel guide portions is to limit translation of moments from external forces applied to the first finger 90 to the conveyor 72A (e.g., when the finger 90 engages a container 75 or other intentional or inadvertent contact). In this way, the conveyor 72A can more stably hold the finger 90 and the conveyor 72A life will be extended due to less wear, bending and/or stretching. Accordingly, at a broad level, in some embodiments, at least two portions of the truck 94 are situated on a first side of the truck 94 on opposing sides of an axis of the first finger 90. For example, the axis may be a longitudinal axis, such as center axis 720 shown in FIGS. 6B and 7B, and the two portions of the truck may be two bearings 98 and/or two washers 702 on the first side on either side of the axis 720. In some embodiments, this arrangement provides off-axis contact of the portions of the truck to the travel guide portions to limit translation of moments from external forces on the finger 90 to the conveyor 72A. Further, in some embodiments, at least two portions of the truck 94 are situated on opposing sides of the truck 94. For example, the two portions of the truck may be one bearing 98 on the first side and another bearing 98 on the opposing side and/or one washer 702 on the first side and another washer 702 on the opposing side. In some embodiments, this arrangement provides contact of both sides of the truck to the travel guide portions to limit translation of moments from external forces on the finger 90 to the conveyor 72A. Even further, a combination of portions of the truck on the same side and opposing sides movably contacting the travel guide of the platform rails 79 secures the truck 94 and limits moments from being translated to the conveyor 72A. For example, as shown in the illustrated embodiments, there are a pair of bearings 98 and a pair of washers 702 on a first side of the truck 94, and an opposing pair of bearings 98 and pair of washers 702 on an opposing or second side of the truck 94, with the bearings 98 and washers 702 on each side being separated from and centered about the center axis 720 of the finger 90. It is understood that while reference is made to the first finger 90, the same features may be applied to the second finger 93.

[0078] FIG. 7F illustrates a focused bottom view comprising a transfer shaft 85 operationally coupled with one of the first set of rotarys 89A to allow torque transfer therebetween. As discussed earlier, transfer motor 95 may provide predetermined torque and rotational speed to transfer shaft 85 via gearbox 91. One of first set of rotarys 89A may be located concentric to the transfer shaft 85 to receive torque and/ or rotator speed therethrough. One of first set of rotarys 89A may advance the incoming torque and/or rotary speed to one of the first set of conveyers 71 A. As a result, transfer motor 95, gearbox 91, transfer shaft 85, one of the first set of rotarys 89A and, but not limited to, one of the first set of conveyors 71 A may jointly serve as, or at least a portion of, the torque transfer assembly 78A.

[0079] Referring now to FIG. 7G, there is shown a transfer shaft 85 coupled with another of first set of rotarys 89B. This coupling is achieved at an end other than the end of transfer shaft 85 that may be coupled to another of the first set of rotarys 89B. Encoder gear 81 may be in operational coupling with another of first set of conveyers 71B to determine location of the transfer finger 90 and/or 93 along second set of conveyer/s 72A, 72B. Additionally, encoder gear 81 may also assist in appropriate alignment of the transfer finger/s 90, 93, when required, through a feedback loop to encoder (not shown) by sending location information related to transfer fingers 90,93.

[0080] Referring now to FIG. 8A and FIG. 8B, there is shown perspective views of the transfer motor 95 in operational coupling with the gearbox 91. As discussed earlier in this specification, transfer motor 95 may generate torque and speed, whereas gearbox 91 may modify incoming torque and/or speed to a pre-determined value. Gearbox 91 may be disposed to couple the transfer shaft 85 via one of first set of rotarys 89A to receive incoming torque and speed. Shaft link 96 may be disposed to connect transfer shaft 85 with one of first set of rotarys 89A and gearbox 95. FIG. 8B illustrates a cross section view of connection established between transfer shaft 85, rotary 89A and gearbox 91 via a shaft link 96 (shown in FIG. 8C). Gearbox 91 may typically provide a channel to receive transfer shaft 85 to advance torque and/or speed coming from transfer motor 95. Repairs and/or replacement of parts in or around gearbox 91, rotary 89A or transfer motor 95 may require disengaging the transfer shaft 85 from both of first set of rotarys 89A, 89B to access area of malfunction. Shaft link 96 may facilitate accessing said repair/ replacement, as mentioned above, by only disengaging transfer shaft 85 from the shaft end connecting with rotary 89A.

[0081] Referring now to FIG. 8C and FIG. 8D, shaft link 96 may comprise first end 96A interfacing transfer shaft 85 and a second end 96B operatively interfacing gearbox 91. Link channel 92 may be provided in gearbox 91 to house shaft link 96 or at least a portion of shaft link 96. Link channel 92 may further house a biased coupler 82 to operatively interface second end 96B of the shaft link 96. In present example, connection between the shaft link 96 and biased coupler 82 may be established through screw 80 to strengthen engagement therebetween. Biased coupler 82 may remain tensed until released by disengaging screw 80 with second end 96A of shaft link 96. Disengaging screw 80 may cause slacken the interaction between first end 96A and transfer shaft 85. FIG. 8D depicts exploded view of components interacting in link channel 92. Variety of components may be employed to efficiently release the screw 80 from binding position to couple shaft link 96 with biased coupler 82 and thereby establish required interaction between the rotary 89A and the transfer shaft 85. In present example, disengagement key 109 may trap screw 80 to cause decoupling within link channel 92. This feature may assist in repairing and/or replacing parts proximal to gearbox 91 without disengaging the transfer shaft 85 from the first set of rotarys 87A, 87B. The above discussed mechanism of modular coupling of transfer shaft 85 with gearbox 91 and decoupling the same, should be construed as a limiting mechanism to achieve the purpose of efficient repair/ replacement of parts surround gearbox 91.

[0082] CHARGE TOE EXTENSION AND RETRACTION [0083] Referring now to FIGS. 9A and 9B, there is shown an exemplary vertical drive assembly 117 configured to allow mobile robot 53 to climb vertical rails 115. Portions of the mobile robot 53 other than the vertical drive assembly 117 are omitted from FIGS. 9A and 9B for clarity. Primary shaft 131 may receive the required torque and/or speed for said vertical climb. Leadscrew 125 may operate to retract or extend vertical drive assembly 117. In one example, leadscrew 125 may be jointly formed of first lead screw, second lead screw combined using a leadscrew coupling (not shown). Coupling of first and second lead screws may be achieved to aim at symmetry in motion of components on either side of the lead screw. Drive motor 120 may be in operational connection with leadscrew 125. Extension of vertical assembly 117 may cause contact between drive pinion/s 137 and rack teeth (not shown) located along length of vertical rails 115 on both ends therewith. Guide wheels 135 may retract or extend to contact vertical rails 115 and thereby assist in vertical climb. Leadscrew 125 may simultaneously operate primary shaft/s 131 and secondary shaft 133 to extend or retract respective pinion/s and/or guide wheels disposed at the ends of said shafts. Shaft pairing 126 may be coupled to leadscrew 125, primary shaft 131 and with secondary shaft 133 to transmit motion from drive motor 120 therethrough. FIG. 9A and FIG. 9B also illustrate vertical drive motors 902 that are configured to rotate the secondary shaft 133 and pinions 137 once they have engaged gear teeth of the vertical rail 1 15. In some embodiments, rotation of the secondary shafts 133 and pinions 137 cause the mobile robot to climb or descend along the vertical track or rail 115.

[0084] Continuing to refer to FIG. 9A and FIG. 9B, charge toe assembly 141 may be disposed within vertical drive assembly 117 and may be operatively coupled with leadscrew 125 via primary shaft 131. Consequently, charge toe assembly 141 may extend or retract with the primary shaft 131 based on operation of leadscrew 125. During extension, guide wheels 135 may travel towards the vertical rails 115 to contact and operate along the vertical rails 115 allowing vertical climb of mobile robot 53. Coupling between primary shaft 131 and the charge toe assembly 141 may facilitate synchronized extension of charge toe assembly 141 with reference to extension of guide wheel 135. This motion allows charge contacts to mate with a portion of the charge rail 119 mounted in a vertical rail 115. In some embodiments, synchronized extension of charge toe assembly 141 and primary shaft 131 may facilitate safe motion and secure positioning of the charge contacts 185 with respect to the vertical rail/s 115 and guide wheels 135. [0085] In FIG. 9B, the first unidirectional axis illustrates the first linear motion 210. Leadscrew 125 may initiate first linear motion 210 allowing simultaneous extension or retraction of the primary shaft 131 and the coupled charge toe assembly 141. Second unidirectional axis illustrates second linear motion 220 that may be caused by the auxiliary mechanism 142 (shown in FIG. 10A) of charge toe assembly 141. Auxiliary or second linear motion 220 may initiate when charge toe assembly 141 reaches a dual motion point 200 as it moves along the first linear motion 210.

[0086] In some embodiments, this may cause initiation of the auxiliary mechanism 142 to augment first linear motion 210. During extension phase, leadscrew 125 operates to move primary shaft 131 and charge toe assembly 141 towards vertical rails 115. As primary shaft 131, and consequently guide wheel 135 and charge toe assembly 141, proceed towards the vertical rail 115, at least one coupling element of auxiliary mechanism 142 may interact with primary shaft housing 132 (e.g., which may be embodied as a sleeve that at least partially contains, encloses, or surrounds the shaft 131). Said coupling element of auxiliary mechanism 142 may also assist in achieving the dual motion point 200. During retraction, leadscrew 125 may operate to move the primary shaft

131 and the charge toe assembly 141 away from vertical rail/s 115. Said least one coupling element, disposed at dual motion point 200, may continue interaction with primary shaft housing

132 and may augment linear motion 210 in direction away from the vertical rail 115. Operation of the auxiliary mechanism 142 may be dependent on operation of leadscrew 125. Interdependent operation of auxiliary mechanism 142 to enhance extension or retraction of charge toe assembly 141 may be one of many mechanisms that can be employed to attain required contact of charge contact with vertical rail 115 during vertical climb and achieve safe retraction and retain said retraction during horizontal motion of mobile robot 53 (as shown in FIG. 2). It is noted that while reference is made herein to primary shaft 131, in some embodiments, primary shaft 131 may be one shaft that extends/retracts in two (e g., opposite) directions, and in some embodiments, primary shaft 131 may be two independent shafts that each extend/retract in different directions, the extension and retraction coordinated similar to the secondary shafts 133.

[0087] Referring now to FIG. 9C, there is shown a flow diagram 300 to illustrate sequence steps for extension 370 and sequence steps for retraction 375 of the primary shaft 131 and/or the secondary shaft 133 and the charge toe assembly 141. The following description of sequence steps serves as an exemplary method to safely extend the primary shaft 131 and the charge toe assembly 141 towards vertical rail 115 and retract the charge toe assembly 141 away from vertical rail 115 and retain it in a retracted position with minimum wear during operation of the mobile robot 53. It is noted that the process of FIG. 9C also applies to the alternative charge toe extension and retraction auxiliary coupling mechanism 1302 of FIGS. 13A-19. Steps in said sequence of extension/ retraction should not be limited to below discussed method and may be altered to achieve underlying goal of safe operation of charge toe assembly 141.

[0088] Exemplary extension sequence 380 may be initiated by step 310 in which leadscrew 125 is operated by the drive motor 120. Subsequent step 320 involves initiating the first linear motion 210 of primary shaft 131 and the charge toe assembly 141 towards vertical rail 115. The following step 330 comprises continued progression in first linear motion 210 resulting in charge toe assembly 141 achieving (reaching) dual motion point 200 (e.g., see FIGS. lOA-1 ID and also FIGS. 13 A- 19 for more details on reaching the dual motion point 200). Step 340 involves activating the auxiliary mechanism 142 when the dual motion point 200 is achieved. At step 350 auxiliary mechanism 142 may operate to initiate the augmented second linear motion 220 by charge toe assembly 141 or 1304. At step 360 charge contacts 185 may interface with the charge rail 119 at conclusion of auxiliary mechanism 142. In one example, the first linear motion 210 and the augmented second linear motion 220 may conclude at similar times. Thus, allowing the guide wheel 135 to contact the vertical rail 115 around the same time as the charge contacts 185 interfaces the vertical rail 115. Thus, in some embodiments, during extension and prior to reaching the dual motion point 200, only the primary extension motion of wheel 135, primary shaft 131 and charge toe assembly 141 about first linear motion 210 occurs, and once the dual motion point 200 is reached, both the primary extension motion of wheel 135, the primary shaft 131 and the charge toe assembly 141 about first linear motion 210 occurs together with the secondary extension motion of the charge toe assembly 141 and auxiliary mechanism 142 about the secondary linear motion 220. Another embodiment may provide added constraints to ensure desired alignment of the charge contact 185 and/or the guide wheel 135 prior to interfacing the vertical rail 115. Furthermore, a biased tensioner 1002 (see FIGS. 10A-1 ID) may be activated at the end of auxiliary mechanism 142 to exert force for desirable and continuous mating between the charge contacts 185 and the charge rails 119. In one example, the charge contacts 185 may comprise two or more contact plates and each contact plate may be forced to connect with respective charge rail through distinct biased tensioners. In some embodiments, the biased tensioners comprise springs that resist a compression force against the spring. Thus, the application of a force against the biased tensioner activates its natural resistance to force. As a result, forced contact between one of the charge contacts and charge rail may be independent of the forced contact between another of charge contacts and charge rail. At final step 370 in extension sequence, the charge contact 185 of charge toe assembly 141 forcibly mates with charge rail 119 in vertical rail 115 to maintain continuous contact when the mobile robot 53 climbs vertical rail 115.

[0089] Exemplary retraction sequence 385 may be initiated by step 315 in which the leadscrew 125 is operated by the drive motor 120 to initiate first and second linear motions 210, 220 of primary shaft 131 and coupled charge toe assembly 141 in a direction away from the vertical rail 115. As primary shaft 131, wheel 135, and charge toe assembly 141 begin retraction, in subsequent step 325, the biased tensioner is deactivated (e.g., the force applied to the tensioner is removed) causing release of force that allows desirable mating of the charge contacts 185 with charge rail 119. At following step 335, the charge contact 185 disconnects from the charge rail 119. At step 345 charge toe assembly 141 passes dual motion point 200 and ceases operation of the auxiliary mechanism 142. Step 355 involves continuing the first linear motion 210 to retract primary shaft 131 , wheel 135 and the charge contact 185 away from vertical rail 115. Final step of retraction sequence 385 includes step 365 wherein disconnection of primary shaft 131 from vertical rail 115 is achieved allowing safe retraction and retention of charge toe assembly 141. In one example of retraction sequence 385, the first linear motion 210 and the augmented second linear motion 220 initiate at similar time. Thus, allowing the guide wheel 135 to disconnect from the vertical rail 115 around the same time as the charge contacts 185 disengage from the vertical rail 115. Thus, in some embodiments, during retraction and prior to reaching the dual motion point 200, both the primary retraction motion of wheel 135, primary shaft 131 and charge contact 185 about first linear motion 210 occurs together with the secondary retraction motion of the charge contact 185 and auxiliary mechanism 142 about the secondary linear motion 220. And, in some embodiments, during retraction and after reaching the dual motion point 200, retraction only occurs with the primary retraction motion of wheel 135, primary shaft 131, and the charge contact 185 about first linear motion 210. [0090] Referring now to FIG.10A and FIG.1 OB, there is shown side perspective views (assembled and exploded, respectively) of the charge toe assembly 141 with focus on the auxiliary mechanism 142. As discussed earlier, auxiliary mechanism 142 serves to augment extension or retraction motion from leadscrew 125 (shown in FIGS. 9A and 9B) and facilitate safe extension and retraction of charge contact 185. Further, auxiliary mechanism 142 may operatively engage with the primary shaft 131 via fixture 121, e.g., fixture 121 is rigidly connected to a portion of the primary shaft 131 and moves with the primary shaft 131. Charge contact housing 187 may be operatively coupled with the carriage 170 via housing coupler 189. Carriage 170 may moveably engage with the charge toe truck 181 to travel along charge toe axis 184. Charge toe rails 183 may operatively couple charge toe truck 181 such that a portion of the charge toe rails 183 may be slidably housed within body of the charge toe truck 181. Charge toe rails 183 may further facilitate linear movement of the carriage 170 along charge toe rails 183 relative to the charge toe truck 181. In present disclosure, functional coupling element, lever 190, may comprise two ends, first lever end 190A may interface with a portion of the primary shaft 131 and may also engage with charge toe truck 181. Second lever end 190B may moveably couple with the carriage 170 via charge toe rails 183. First travel roller/s 191 may be provided on a first lever end 190A to assist in operative interaction with a portion of primary shaft 131 . A travel slot 193 (also referred to as an aperture of the lever) may be provided proximal to the second lever end 190B. Charge toe rails 183 may retain a second travel roller/s 192 configured to move along the travel slot 193 between the two ends of the travel slot 193. Operative interaction of first travel roller/s 191 with primary shaft housing 132 along with functional travelling of second roller/s 192 may cause angular pivot motion of lever 190. This may result in the carriage 170 traveling towards or away from vertical rail 115 and consequently allow charge contact 185 to extend or retract further towards charge rail 119. In one example, one or more biased tensioner/s (e.g., biased tensioner 1002) may be activated on completion of the auxiliary mechanism 142. Said biased tensioner may exert necessary force required to appropriately mate charge contacts/s 185 with charge rails 119 and maintain said contact when mobile robot 53 is in vertical operation. An example of biased tensioners 1002 may be, but not limited to, springs provided along charge toe rail 183. As will be explained in more detail below, the dual motion point is shown as being reached at dual motion point references 200a and 200b, e.g., in some embodiments, the dual motion point is reached when the first shaft 131 and wheel 135 extend to the dual motion point reference 200a, which is also the point at which the roller 191 reaches the dual motion point reference 200b, contacting wall 1012.

[0091] Referring next to FIGS. 10C and 10D, isometric and perspective views, respectively, are shown of an exemplary charge toe assembly 141 according to embodiments of the present disclosure. In these views, the shaft housing 132 includes a guide surface 1010 that is embodied as a pathway that engages a portion of the auxiliary coupling mechanism, e.g., engages the roller 191 such that the roller 191 rolls along the guide surface 1010 during extension and retraction. As the shaft 131 extends, the shaft housing 132 remains fixed and the roller 191 rolls with the extension until the roller 191 contacts a fixed position wall 1012. The end wall 1012 stops the extension of roller 191 at the dual motion point reference 200b but since the truck 181 continues extending, the lever 190 pivots such that the roller 191 will move upwardly into an opening 1014 of the shaft housing 132, and the carriage 170 extends an auxiliary amount. This interaction is shown more clearly in FIGS. 11A-1 ID.

[0092] Referring now to FIG. 11 A - FIG. 1 ID, there are shown subsequent stages of extension or retraction of housing coupler 189. More particularly, FIGS. 11 A-l ID illustrate the operation of auxiliary mechanism 142. It is noted that the views of FIGS. 11A-1 ID and direction of extension and retraction are shown in the opposite direction to that shown in FIGS. 9A, 9B, 10A and 10B in order to show both sides of an exemplary charge toe assembly 141 and auxiliary mechanism 142. At stage 1 referred to as 510, as shown in FIG. 11A, charge contact housing 187 may be fully retracted and stays fully retracted until pinion 137 (shown in FIG. 9A, 9B) engages with the rack in vertical rail/s 115. It should be noted that at stage 1— 510 leadscrew may or may not be in operation to extend primary shaft 131, secondary shaft 133, and charge toe assembly 141 towards vertical rail 115. It is further noted that the wall 1012 and the shaft housing with the guide surface 1010 are shown schematically over the views of FIGS. 11A-11D. Further, during operation of leadscrew to drive above stated assemblies towards vertical rail 115, first roller 191 of lever 190 in auxiliary mechanism 142 may interface with a portion (e.g., the guide surface 1010) of shaft housing 132 until first roller 191 encounters a stop, e.g., makes contact with the wall 1012. One example of said interaction may be first roller 191 riding on primary shaft housing 132 (FIG. 10A, 10B), e.g., the first roller 191 rolls along the guide surface 1010 (roller guide) on a bottom surface of the primary shaft housing 132. Further shown at stage 1 is the shaft housing coupler 1102 that rigidly attaches to a portion of the shaft housing 132.

[0093] At stage 2 - 520 shown in FIG. 1 IB, when the dual motion point is reached (e.g., the roller 191 contacts the wall 1012 at the dual motion point reference 200b, the first roller 191 of lever 190 may interface and be retained in a cavity, window, or aperture, or alternatively captured and ceased from further movement. For example, the dual motion point may be reached when the first roller 191 first makes contact with the wall 1012 causing the roller 191 to roll up into the opening 1014 formed at the end of the surface 1010, shown at dual motion point reference 200b. In the illustrated embodiments, the opening 1014 is the space or gap between an end of the guide surface 1010 and the wall 1012. In some embodiments, trapping of first roller 191 at the dual motion point reference 200b may cause first lever end 190A to be fixed about the linear motion axis and further facilitate second roller 192 to begin travelling from the start point 193 A along lever slot 193 as the lever 190 pivots about point 1004 in the direction of pivot motion 1006, and as the first roller 191 is held laterally by the wall 1012 and vertically by the opening 1014. For example, the second roller 192 begins movement from its start point 193 A within the slot 193. This motion of second roller 192 may cause carriage 170 to extend towards vertical rail 115 relative to the charge toe truck 181 in the second linear motion 220 (also shown in FIG. 9A, 9B).

[0094] Stage 3 - 530 is an extension of stage 2- 520, wherein charge contact housing 187 continues to extend towards vertical rail 115 as the lever 190 further pivots about point 1004 along pivot motion 1006 due to the continued trapping of the first roller 191 at the dual motion point reference 200b by the wall 1012 and the opening 1014 due to continued motion of the primary shaft 131 along the primary linear motion 210. FIG. 11C depicts carriage 170 in transit and travelling along the charge toe rail/s 183 relative to the charge toe truck 181 along the second linear motion 220. There is also shown a progression in movement of charge contact housing 187 in moving towards vertical rail 115. It should be noted that at this stage, the second travel roller 192 is also in transit along travel slot 193 proximate second lever end 190B moving toward the end point 193B. Stage 4- 540 depicts complete extension of charge contact housing 187, thereby establishing required mating between charge contact 185 and charge rails 119 of vertical rail/s 115. [0095] Additionally, at stage 4 - 540, carriage 170 reaches end of travel path formed by charge toe rail/s 183 and is at minimum distance from vertical rails 119. Moreover, the first roller 191 is laterally maintained at the dual motion point reference 200b by the wall 1012 and opening 1014 and second travel roller/s 192 concludes travel along slot 193, e.g., the second roller 192 has reached the end point 193B in its travel path with the slot 193. A biased tensioner 1002 may be activated at stage 4- 540 to exert necessary force for appropriate contact between charge contacts 185 and charge rails 119. This force from the biased tensioner/s may retain necessary contact when mobile robot 53 is in vertical operation and allow charging of mobile robot 53 via charge toe assembly 141. It should be noted that biased tensioner 1002 for one or more charger contact/s of charge contacts 185 may be distinct and hence mating of each of the charge contact/s with charge rail 119 may be independent of one another.

[0096] Above mentioned stages of FIGS. 11A-11D may be achieved in reverse order during retraction of charge contact housing 187. For example, starting at stage 4, the primary shaft 131 and wheel 135 retract while the auxiliary coupling mechanism 142 provides additional retraction due to the roller 191 being retained in the opening 1014 at dual motion point reference 200b until the shaft 131 and wheel 135 reach the dual motion point at dual motion point reference 200a. Further retraction lowers the roller 191 from the opening 1014 and releases the roller 191 from the wall 1012 through the pivoting motion of the lever 190 in the opposite direction of pivot motion 1006 at the dual motion point reference 200b as shown in stage 3. Continued retraction occurs as shown in stage 2 until complete retraction at stage 1.

[0097] In some embodiments, during extension and prior to the dual motion point 200 being reached, both the first shaft 131 and the auxiliary coupling mechanism 142 (with the charge contact 185) move together; whereas once the dual motion point 200 is reached (e.g., the first roller 191 first reaches the dual motion point reference 200b), the first shaft 131 continues to extend and the auxiliary coupling mechanism 142 is active causing additional linear movement of the charge contact 185 relative to the first shaft 131 and the wheel 135. And in some embodiments, during retraction and prior to returning back to the dual motion point 200, the first shaft 131 and wheel 135 retract and the auxiliary coupling mechanism 142 causes additional linear retraction of the charge contact 185 relative to the first shaft 131 and the wheel 135; whereas after retracting past the dual motion point 200, both the first shaft 131 and the auxiliary coupling mechanism 142 (with the charge contact 185) retract together. [0098] Referring now to FIG. 12A and FIG. 12B, there are shown perspective views of exemplary vertical drive assembly 117. As discussed in earlier section of this disclosure, leadscrew 125 may functionally couple with primary shaft 131 and secondary shaft 133. Motion of leadscrew 125 may correspond to extension or retraction of vertical assembly 117 along axis 705. For example, this causes pinions 137 to extend and engage a gear rack of the vertical rail 115 while also allowing guide wheels 135 to engage the vertical rail. The guide wheel 135 coupled to the primary shaft 131 can function as a counterwheel against the vertical rail 115 to the moment created by the operation of the motor 120 and drive pinion 137. Motor 120 may provide necessary rotational force for operation of leadscrew 125 to result in linear extension and retraction of the primary shaft 131 and the second shaft 133. One or more mechanical override/s may be provided to manually operate leadscrew 125 to allow extension or retraction of vertical assembly 117 without operating motor 120. FIG. 12B is a focused view of motor 120 and override. In present example, override may serve as an access to reach vertical motor shaft (not shown) and impart torque manually. Manual access to vertical motor shaft may provide higher flexibility in cases of replacement, repair, test or demonstration of vertical drive assembly 117, without operation of motor 120. FIGS. 12A and 12B also shown the vertical drive motors 902 that are configured to apply a rotational force on the secondary shafts 133 to rotate the secondary shafts 133 and the pinions 137 allowing the robot to climb or descend on the vertical track.

[0099] Referring now to FIGS. 12C, 12D, and 12E, isometric views are shown of a vertical drive assembly in accordance with some embodiments. These figures illustrate the relationship between extension of the primary shaft 131, the secondary shaft 133 and the auxiliary mechanism 142 in accordance with some embodiments. In the view of FIG. 12C, all components are fully retracted such that none of the pinions 137, wheels 135 or charge contacts 185 engage corresponding portions of the vertical rails 115. Various reference lines are shown to illustrate extension and retraction positions, and dual motion point positions, although it is understood that these reference lines may be different in different embodiments. The wheels 135 are initially centered at reference line 1202 and the lateral edges of the charge contact 185 and the pinions 137 are at reference line 1204. Reference line 1210 illustrates a center axis of the primary shaft 131, the charge toe axis 184 shows an axis of horizontal movement of the carriage 170 and charge contact 185, and reference line 1212 illustrates a center axis of the secondary shaft 133. Also shown is the dual motion point, reached when the primary shaft 131 and wheel 135 extend to dual motion point reference 200a, which in some embodiments, is also the point at which the roller 191 reaches the wall 1012 and the opening 1014 (see FIGS. 11 A-l ID) at dual motion point reference 200b.

[00100] Referring now to FIG. 12D, the primary shaft 131 and the secondary shaft 133 have extended causing lateral extension of the pinions 137, the wheels 135, and the auxiliary mechanism 142 with the charge contact 185. In this view, the wheels 135 have extended to reference line 1204 (but not yet to dual motion point reference 200a) and the lateral edges of the charge contact 185 and pinions are proximate reference line 1206. At this point, the primary shaft 131 and the auxiliary mechanism 142 have not yet reached the dual motion point 200; thus, the auxiliary mechanism 142 has not yet been activated (e.g., the auxiliary mechanism 142 is oriented such as shown in FIGS. 10A and 11A). At this point, in accordance with some embodiments, the pinions 137 begin to interface with the corresponding gears of the vertical rail 115. In some embodiments, if there is any misalignment of the teeth of the pinions 137 to the gears of the vertical rail 115, the leadscrew 125 stops, retracts, then extends again, and repeats until the pinions 137 correctly engage the gears of the vertical rails 115. When the leadscrew 125 stops and retries, in some embodiments, this causes a corresponding stop of extension, slight retraction, then repeated extension of the primary shaft 131 . In some embodiments, this is to ensure that there is proper alignment to the vertical rails 115 prior to full engagement with the wheels 135 and the charge contact 185. Thus, alignment issues are resolved prior to reaching the dual motion point 200. According, in FIG. 12D, the pinions 137 are the first components to contact corresponding portions (gear teeth) of the vertical rails 115. [00101] Referring now to FIG. 12E, the primary shaft 131 and the secondary shaft 133 have extended fully, where the primary shaft 131 and the auxiliary mechanism 142 have passed the dual motion point 200. For example, the primary shaft 131 and the wheel 135 have extended beyond the dual motion point reference 200a, and the roller 191 has been engaged and retained by the wall 1012 and the opening 1014 at the dual motion point reference 200b. In this position, the auxiliary mechanism 142 has already fully extended the charge contact 185 and all components have fully engaged corresponding components of the vertical rails 115. For example, the pinions 137 and the wheels 135 have fully engaged corresponding portions of the vertical rails 115 and are at the final extension point, and the charge contact 185 contacts the charge rail of the vertical rail 115, shown at reference line 1208. As can be seen in the illustrated embodiment, the charge contact 185 extends farther into the vertical rail passage that the pinion 137 and the wheels 135.

[00102J Referring next to FIGS. 13A-19, an alternative charge toe extension and retraction mechanism 1300 is provided in accordance with some embodiments to extend a charge toe assembly 1304 and charge contacts 1306 to the charge rail 119 of the vertical rail 115. The charge toe extension and retraction mechanism 1300 includes an auxiliary coupling mechanism 1302 to provide additional extension and retraction of the charge toe assembly 1304 when a dual motion point 1310 is reached similar to the auxiliary mechanism 142 described above in connection with FIGS. 9A-12E. The charge toe extension and retraction mechanism 1300 operates generally in accordance with the process of FIG. 9C and the diagrams of FIGS. 12C-12E with differences in the details.

[00103] FIGS. 13A-13H show an example operation of the auxiliary coupling mechanism 1302 to extend and retract the charge toe assembly 1304 and charge contacts 1306. Referring first to FIG. 13A, the charge toe extension and retraction mechanism 1300 includes a charge toe truck 1312 rigidly fixed to a portion of the primary shaft 131 at fixture 1314. Similar to that described above, wheel 135 is attached to the end of the primary shaft 131 that moves within and relative to the primary shaft housing 132 which is fixed. The remaining components of the auxiliary coupling mechanism 1302 are directly or indirectly attached to the charge toe truck 1312. A rear housing 1330 is attached to the charge toe truck 1312. The charge toe truck 1312 includes a shroud 1316 that protects the charge toe assembly 1304 and charge contacts 1306. The shroud 1316 and the rear housing 1330 are rigidly fixed to the charge toe truck 1312. The charge toe assembly 1304 is attached to a mount 1318 which removably fits to a carriage 1320. An extension shaft 1322 and a guide shaft 1324 attach to an end portion 1902 of the carriage 1320 extending through bores in the carriage (the end portion 1902 is best shown in FIG. 19 since it is obscured by the mount 1318 in FIG. 13 A). The carriage 1320 includes stop wall 1326 having a bore or an aperture through which the extension shaft 1322 can move. The rear housing 1330 includes a stop wall 1332 also having a bore or an aperture through which the extension shaft 1322 can move. A lever 1340 is rotatably mounted to the rear housing 1330 at axle 1342. At an upper end of the lever 1340, a roller 1344 is rotatably mounted at axle 1346. The opposite (lower) end of the lever 1340 includes a paddle portion 1348 that fits within and can move relative to an aperture 1352 of a shaft coupler 1350. The shaft coupler 1350 is fixed to the extension shaft 1322 proximate one end (the right end in FIG. 13 A) using a retainer ring 1354. The extension shaft 1322 is fixed between the shaft coupler 1350 (on the right side of FIG. 13A) and the end portion 1902 of the carriage 1320 (on the left side of FIG. 13A). From right to left, the extension shaft 1322 extends through the stop wall 1332 of the rear housing 1330 and the stop wall 1326 of the carriage 1320 and terminates at the portion 1920 of the carriage 1320 on the left side. Between the stop walls 1326 and 1332, two bearings 1360 and 1362 surround the extension shaft 1322 to hold a spring 1364 between the stop walls 1326 and 1332. A retaining ring 1402 (see FIG. 14) is positioned between a rim 1404 (see FIG. 14) of the bearing 1360. Also shown is a bias tensioner 1370 that connects from the mount 1318 to the charge toe assembly 1304 at hole 1372.

[00104] FIG. 13 A illustrates a fully retracted orientation of the charge toe extension and retraction mechanism 1300. In this orientation, the roller 1344 is held under the primary shaft housing 132 on a surface 1380 of the shaft housing. This holds the lever 1340 in an orientation such that the paddle portion 1348 applies a constant force 1382 against an inner surface of the aperture 1352 of the shaft coupler 1350. This force 1382 holds the shaft 1322 in a fully retracted position compressing the spring 1364 between the stop walls 1326 and 1332 which pulls the charge toe assembly 1304 and charge contacts 1306 to the fully retracted position. In this position, the force 1382 is stronger than the spring force 1384. As can be seen, the charge contacts 1306 are flush with and protected by the shroud 1316, i.e., charge contact surface 1386 is flush with the outer surface of the shroud 1316.

[00105] FIG. 13B shows the initial extension of the primary shaft 131 and the auxiliary coupling mechanism 1302 connected to the shaft 131 at the fixture 1314. In FIG. 13B, the shaft 131 is caused to extend relative to the shaft housing 132 (e.g., such as described herein). The shaft 131 and the wheel 135 extend in the direction of arrow 1301. And since the auxiliary coupling mechanism 1302 is fixed to the shaft 131, the components of the auxiliary coupling mechanism 1302 also move in the direction of arrow 1301. The roller 1344 rotates and travels about the surface 1380 of the shaft housing 132. At this point all components except for the shaft housing 132 move in unison in the direction of arrow 1301. The dual motion point 1310 (shown at 1310a and 1310b) has not yet been reached. [00106] In FIG. 13C, the dual motion point 1310 is reached to start the auxiliary motion of the charge toe assembly. That is, the wheel 135 has extended to dual motion point 1310a and the roller 1344 has extended to dual motion point 1310b. Up until this point, all components except for the shaft housing 132 move in unison in the direction of arrow 1301.

[00107] Referring next to FIG. 13D, the auxiliary motion provided by the auxiliary coupling mechanism 1302 is provided as the assembly extends beyond the dual motion point 1310b. The roller 1344 is no longer held under the surface 1380 of the shaft housing 132 so that the lever 1340 pivots about axle 1342 (in the direction of arrow 1307) as the roller 1344 rolls about axle 1346 over the end of the shaft housing 132 (in the direction of arrow 1305). Since there is no longer the same holding force 1382 applied by the paddle portion 1348 of the lever 1340, the force 1384 of the spring 1364 overcomes the holding force 1382 pushing the carriage 1320, the mount 1318, the extension shaft 1322 and the guide shaft 1324 to the left to move in the direction of arrow 1303. Since the charge toe assembly 1304 is connected to the mount 1318, the charge toe assembly 1304 and charge contacts 1306 also move in the direct of arrow 1303 until the charge contacts 1306 contact the charge rail. During this movement period, the shroud 1316, the charge toe truck 1312, and the rear housing 1330 move together with the primary shaft 131 and the wheel 135 (direction of arrow 1301). However, the extension shaft 1322, the guide shaft 1324, the carriage 1320, the mount 1318, the charge toe assembly 1304 and charge contacts 1306 move an auxiliary or additional amount of movement, indicated by the arrow 1303. In this position, the charge toe assembly 1304 and charge contacts are no longer shielded by the shroud 1316. Thus, as the dual motion point 1310b is passed, the auxiliary coupling mechanism 1302 augments the linear movement of the charge toe assembly 1304 in the direction of arrow 1303.

[00108] Referring next to FIG. 13E, there is a small further movement of the auxiliary coupling mechanism 1302 to ensure that the charge contacts 1306 maintain contact with the charge rail 119. In this case, the charge rail 119 exerts a retaining force 1385 back against the charge contacts 1306 and the charge toe assembly 1304, causing a movement in the direction of arrow 1309, which causes the carriage 1320, the extension shaft 1322, the guide shaft 1324, the stop wall 1326, and the coupler 1350 to move in the direction of arrow 1309. Now the coupler 1350 pushes the back of the paddle portion 1348 at surface 1349, which causes a small rotation of the lever 1340 about axle 1342 in the direct of arrow 1307 causing the roller 1344 to slightly separate from the end of the shaft housing 132 in the direction of arrow 1311. At this point, the charge contacts 1306 are maintained in a sufficient connection with the charge rail 119 for charging of the energy storage device of the mobile robot.

[00109] The retraction process is the reverse of the extension process and is shown in FIGS. 13F- 13H. Initially, the charge toe assembly 1304 and charge contacts 1306 retract in unison with the primary shaft 131 and the wheel 135 until the dual motion point 1310 is reached. FIG. 13F shows the point at which the dual motion point 1310 is reached, causing the roller 1344 to roll back under the surface 1380 of the shaft housing 132, causing the lever 1340 to pivot about axle 1342 in the direction of arrow 1307. This causes the paddle portion 1348 of the lever 1340 to exert the force 1382 against the back surface of the aperture 1352 of the coupler 1350. This overcomes the force 1384 of the spring 1364 between stop walls 1326 and 1332. This causes the reverse of the auxiliary motion applied when extending to occur. At this point, the charge toe assembly 1304, the charge contacts 1306, the mount 1318, the carriage 1320, the extension shaft 1322, the coupler 1350 retract an additional amount indicated by the arrow 1303 while the wheel 135, the primary shaft 131, the charge toe truck 1312, the shroud 1316 and the rear housing 1330 move in unison.

[00110] In FIG. 13G, all components retract in unison relative to the shaft housing 132, the roller 1344 continuing to roll against the surface 1380 under the shaft housing 132, the reverse of the extension of FIG. 13B. And at FIG. 13H, the full retract position is reached again (the same as FIG. 13A).

[00111] FIG. 14 shows an enlarged view of the stop wall 1326 and the spring 1364 pressing thereagainst in accordance with some embodiments. The spring 1364 sits against the rim 1404 of the bearing 1360, pushing against the rim 1404. A retaining ring 1402 is positioned between the stop wall 1326 of the carriage 1320 and the rim 1404. At the other end abutting the stop wall 1332, the spring 1364 sits against a corresponding rim of the bearing 1362 which is shown better in FIG. 15.

[00112] FIG. 15 shows an enlarged view of the stop walls 1326 and 1332, the spring 1364 relative to the lever 1340 in accordance with some embodiments. FIG. 15 shows the rim 1502 of the bearing 1362 and the spring 1364 compressed between the stop walls 1326 and 1332. Also, in some embodiments, there are a pair of extension shafts 1322 and 1323. Shaft 1323 is visible on the far side of the shaft 1322. As such, in some embodiments, the paddle portion 1348 of the lever 1340 rests within the aperture of the shaft coupler 1350, the shaft coupler 1350 holding the extension shafts 1322 and 1323 side-by-side. The lever 1340 pivots about axle 1342, and nuts 1504 secure the lever 1340 at the axle 1342. Only the nut 1504 on this near side is visible in FIG. 15. The roller 1344 rotates about axle 1346 and nuts 1506 secure the roller 1344 to the lever 1340 at the axle 1346. Only the nut 1506 on this near side is visible in FIG. 15.

[00113] FIGS. 16A-16C show various views of an example lever 1340 having the paddle portion 1348 in accordance with some embodiments. In some embodiments, the lever 1340 includes an aperture 1602 to receive the axle 1342 and/or the nuts 1504 to allow the lever to rotate or pivot about the axle 1342. The lever also includes an aperture 1604 to receive the axle 1346 and/or the nuts 1506 to allow the roller 1344 to rotate relative to the lever 1340. In some embodiments, the shape or contour of the surfaces of the paddle portion 1348 allow it to press against the interior surfaces of the aperture 1352 of the shaft coupler 1350. For example, in some embodiments, the rounded surface 1606 allows the paddle portion 1348 to evenly contact the interior surface of the shaft coupler 1350. For example, this contact can be seen in the embodiments of FIGS. 13A, 13B, 13C, 13F, 13G and 13F to exert the force 1382 on the shaft coupler 1350. In some embodiments, the concave surface 1608 and the edge 1610 allow the paddle portion 1348 to apply even pressure against the interior of the shaft coupler 1350 in other orientations. For example, this contact can be seen in the embodiment of FIG. 13D. And in some embodiments, the flat surface 1612 on the back of the paddle portion 1348 allows even pressure to be applied against the paddle portion 1348 when the charge contacts fully engage the charge rail 119. For example, this contact can be seen in the embodiment of FIG. 13E.

[00114] Referring next to FIGS. 17A-17C, a perspective view is shown of an embodiment of a charge toe extension and retraction mechanism 1700 in which a pair of extension shafts are provided on either side of the lever 1340. In FIG. 17A, only the near extension shaft 1322 is visible. Also shown are two charge contacts 1306 shaped as blades. The near extension shaft 1322 presses and moves the near charge contact 1306a and the far extension shaft 1323 presses and moves the far charge contact 1306b. FIG. 17B is a perspective view from the opposite side (left side) of the charge toe extension and retraction mechanism 1700 which illustrates the carriage 1320, the charge toe truck 1312 and the shroud 1316 without showing the rear housing 1330. And FIG. 17C is the same perspective view of FIG. 17B but the rear housing 330 is illustrated. [00115] FIG. 18 is a perspective view of the charge toe truck 1312 including the shroud 1316 as a separate component from the rear housing 1330. In some embodiments, since the shroud 1316 is more likely to incidentally come into contact with portions of the vertical rails or other support structure, the charge toe truck 1312 and the shroud are made of a rigid, impact damage-resistant material, such as a die case aluminum material. And since the rear assembly is less likely to impact other components, it can be made of a less rigid, less impact damage-resistant material, such as an injection molded plastic material. Since the shroud 1316 is made of a rigid, impact damageresistant material, the charge contacts 1306 are better protected over the life of the mechanism.

[00116] Referring next to FIG. 19, shown are partial and exploded views of one embodiment of a charge toe extension and retraction mechanism. For example purposes, the same reference numbers used above will be used to denote similar components. As noted earlier, FIG. 19 shows the end portion 1902 of the carriage 1320 that the extension shafts 1322 and 1323 and the guide shafts 1324 connect to. For example, an end portion 1904 of the extension shaft 1322 fits into a corresponding bore 1906 of the end portion 1902 of the carriage 1320. Similarly, an end portion 1908 of the guide shaft 1324 fits into a corresponding bore 1910 of the end portion 1902 of the carriage 1320.

[00117] Referring next to FIGS. 20A-20D, a charge toe assembly 1304 replacement mechanism is shown in accordance with some embodiments. In some embodiments, the charge toe assembly 1304 is configured to be easily removed and replaced without taking apart or disassembling any components. FIG. 20A illustrates the charge toe assembly 1304 in the fully retracted position where it is protected by the shroud 1316. In accordance with some embodiments, the charge toe assembly 1304 is moved to the fully extended position such as shown in FIG. 20B, such that the charge toe assembly 1304 extends from the shroud 1316 and is now accessible by an operator. In some embodiments, the operator can grasp the charge toe assembly 1304 to remove it. As shown in the embodiment of FIG. 20C, the charge toe assembly 1304 is pivoted to unseat a hole 2002 on the mount 1318 from a corresponding bump or detent 2004 in the end portion 1902 of the carriage 1320 that the shafts connect to. The charge toe assembly 1304 is pivoted about pivot point 2006 in the direction of arrow 2008 to unseat the hole 2002 from the detent 2004. When unseated, an audile snap can be heard by the operator. Although not shown in FIG. 20C, there are two holes 2002 and two detents 2004, one on either side of the mount 1318 for each charge toe assembly 1304 (in some embodiments, there are two side-by-side charge toe assemblies 1304 and charge contacts 1306. Once the holes 2002 are unseated from the detents 2004, as shown in FIG. 20D, the mount 1318 is lifted from a receptacle 2010 of the end portion 1902 at the pivot point 2006 to remove the charge toe assembly 1304 including the charge contact 1306, the mount 1318 and the bias tensioner 1370. A replacement charge toe assembly 1304 can be installed in the reverse order of operation. For example, a new mount 1318 is set into the receptacle 2010, and pivoted in the opposite direction until the holes 2002 snap fit into the corresponding detents or detents 2004. In some embodiments, the operator gets an audible confirmation of the snap fit.

[00118] In a general sense in accordance with some embodiments, a mobile robot configured to travel about a passage of an automated retrieval and storage system, the passage comprising a track and a charge rail. In some embodiments, the mobile robot includes: a shaft (for example but not limited to shaft 131) configured to extend or retract along an axis; a motor (for example but not limited to motor 120) configured to transfer linear motion to the shaft; a charge contact (for example but not limited to charge contacts 185, 1306) configured to extend and retract with the shaft; and an auxiliary coupling mechanism (for example but not limited to auxiliary coupling mechanisms 142, 1302) disposed between the shaft and the charge contact, the auxiliary coupling mechanism comprises a lever (for example but not limited to the lever 190, 1340) that moves with the shaft before reaching a dual motion point and is configured to augment linear motion of the charge contact to connect or disconnect with the charge rail. In some embodiments, the motor causes the shaft to extend and retract about the axis to extend and retract the charge contact toward and away from the track and the charge rail. And in some embodiments, at the dual motion point (for example but not limited to dual motion points 200, 1310), the auxiliary coupling mechanism and the lever are configured to provide additional extension and retraction of the charge contact toward and away from the track and the charge rail, wherein complete extension of the shaft and the auxiliary coupling mechanism causes the charge contact to engage the charge rail.

[00119] In some embodiments, the mobile robot further comprises a shaft housing at least partially enclosing the shaft and configured to engage a portion of the lever of the auxiliary coupling mechanism. In some embodiments, the portion of the lever moves under a surface of the shaft housing up to the dual motion point. In some embodiments, the portion of the lever moves relative to the shaft housing without pivoting the lever up to the dual motion point. In some embodiments, when the dual motion point is reached, the portion of the lever moves away from the shaft housing pivoting the lever to augment the linear motion. In some embodiments, when the dual motion point is reached, the lever comprises a paddle portion that is pivoted to allow extension of a shaft to extend the charge contact. In some embodiments, at a full retract position, a shroud of the auxiliary coupling mechanism covers and protects the charge contact. In some embodiments, the shroud comprises an impact damage-resistant material to protect the charge contact. In some embodiments, the charge contact is part of a charge toe assembly having a mount including holes to snap fit to detents of an end portion of a carriage to allow replacement of the charge toe assembly. And in some embodiments, the end portion further includes a receptacle allowing the mount to pivot thereabout to release the holes from the detents to remove the charge toe assembly. [00120] In a general sense in accordance with some embodiments, a method for use with a mobile robot configured to travel about a passage of an automated retrieval and storage system, the passage comprising a track and a charge rail, the method comprising: transferring, using a motor (for example but not limited to motor 120), linear motion to a shaft to extend or retract the shaft (for example but not limited to shaft 131) and a charge contact (for example but not limited to charge contact 185, 1306) along an axis toward and away from the track and the charge rail; providing, at a dual motion point (for example but not limited to dual motion point 200, 1310) and by an auxiliary coupling mechanism disposed between the shaft and the charge contact, additional extension and retraction of the charge contact toward and away from the track and the charge rail, wherein the auxiliary coupling mechanism comprises a lever that augments linear motion of the charge contact to connect or disconnect with the charge rail, wherein prior to reaching the dual motion point, the lever moves with the shaft; and engaging, at complete extension of the shaft and the auxiliary coupling mechanism, the charge contact with the charge rail.

[00121] In some embodiments, the method further comprises engaging a shaft housing at least partially enclosing the shaft with a portion of the lever of the auxiliary coupling mechanism. In some embodiments, the method further comprises moving the portion of the lever under a surface of the shaft housing up to the dual motion point. In some embodiments, the engaging step comprises engaging the shaft housing with the portion of the lever without pivoting the lever up to the dual motion point. In some embodiments, the method further comprises moving, when the dual motion point is reached, the portion of the lever away from the shaft housing pivoting the lever to augment the linear motion. In some embodiments, the method further comprises pivoting, when the dual motion point is reached, a paddle portion of the lever to allow extension of a shaft to extend the charge contact. In some embodiments, the method further comprises covering and protecting, at a full retract position, the charge contact with a shroud of the auxiliary coupling mechanism. In some embodiments, the shroud comprises an impact damage-resistant material to protect the charge contact. In some embodiments, the method further comprises removing a charge toe assembly containing the charge contact by releasing holes of a mount from detents of an end portion of a carriage. And in some embodiments, the removing step further comprises pivoting the end portion about a receptacle to release the holes from the detents.

[00122] MOBILE ROBOTS WITH STATUS INDICATORS

[00123] Referring now to FIGS. 21A and 21B, there are shown perspective views of exemplary mobile robot 53. As discussed earlier, a plurality of exemplary mobile robots 53 may be employed in a multilevel structure 10 (such as shown in FIG. 1). One or more of plurality of mobile robots 53 may operate in common areas. In an example scenario, mobile robots 53 may function in a common horizontal aisle or common vertical pathway. Intentional or erroneous physical contact between one or more mobile robot/s 53 may cause damage or wear thereto. Contact bumpers 745 may be disposed at one or more peripheral locations on body of mobile robots 53. In case of collision between two or more mobile robots 53, contact bumpers 75 may serve as energy absorbers to minimize potential damage or wear. Illustrated by example in FIGS. 21A and 21B, contact bumpers 745 are positioned in anterior area 53 A and rear area 53B of mobile robots 53. Exemplary contact bumpers 745 may be composed of metallic and/or non -metallic material. Other materials may include, but not limited to, polycarbonates, polypropylene, polyamides, polyesters, polyurethanes, and thermoplastic olefins, or may contain a combination of these di fferen t m teri al s .

[00124] Referring now to FIG. 22A and FIG. 22B, there is shown perspective and side views, respectively, of another exemplary mobile robot 790. As discussed in earlier sections of this application, exemplary mobile robot 790 may perform a variety of tasks by operating within a multilevel structure. One application of exemplary mobile robot 790 in a multilevel structure may be, but not limited to, an order fulfillment center wherein remotely requested customer orders may be prepared for dispatch or delivery. Mobile robots 790 may independently operate within said order fulfillment center to fulfill respective tasks. Order fulfillment centers may include plurality of containers having fungible or non-fungible items that may be stored or transported within multilevel structure. Multiple workstations may be associated with said multi-level structure to induct or dispense containers therein. Some example tasks for mobile robot 790 may be, but not limited to, picking containers, dispensing containers and/or transporting containers within said multilevel structure. These tasks may jointly serve to fulfill various parts of a workflow leading to fulfill customer order/s. Visual indicators 795A, 795B, 795C may be provided on body of mobile robot 790 to visually suggest a specific workflow task or status that may be performed by the mobile robot 750. FIG. 22A depicts a perspective view of mobile robot 790 with example visual indicators - 795A, 795B, 795C disposed on one or more areas on mobile robot 790, for example, anterior 791, rear 792 and/or side 793. FIG. 22B depicts a side view of mobile robot 790 with visual indicators 795B and 795C disposed on side surface 793 of mobile robot 790.

[00125] Continuing to refer to FIG. 22A and 22B, exemplary visual indicators 795A, 795B and/or 795C may be of varying geometry and/or colors and may be static or dynamic indicators. Positioning visual indicators on mobile robot 790 may be decided to ensure clear visibility of indicators from a distance. Moreover, disposition of visual indicator may be decided to be visible to an executive or associate at workstation and/or working proximal to said multilevel structure. For example, one of the visual indicators 795A as illustrated in FIG. 22A may be a circular visual indicator with one or more colors. In one example, visual indicators may be LED, CFL or bulbs configured to display one or more colors. Display of specific color may be tied with specific task and/or status of respective mobile robot 790. Moreover, said visual indicators may be static or dynamic in nature such as, single solid color light or a blinking color light or a light wheel that may be configured to indicate, single light colors or multiple light colors and/or rotate with single or multiple light color. Additionally, these visual indicators may be distributed or disposed at predetermined locations on the mobile robot 790. In one example, visual indicator stripes such as 795C illustrated herewith may convey mobile robot task and/or status. In accordance with some embodiments, visual indicators may be provided when the robot is moving and/or stationary and can visually indicate one or more of the following status or task indications: charging, maintenance or testing mode, error or malfunctioning, serving as a barrier, carrying chilled and/or frozen items, indicate time in frozen section exceeded, traveling to retrieve a container in the system to deliver to a picking station, traveling to return a container to storage from a picking station, traveling to store a container in the system, traveling to provide a container having picked items to an output interface of the system, traveling to a decanting station, carrying an empty container, and so on. In some embodiments, the status of the task can include at least one of: a progress of the task including a beginning of the task performance, task perform partially complete, and/or task complete; an error or malfunction in task performance; and a warning associated with a task (e.g., time in frozen section exceeded).

[00126] Generally, and with reference to FIGS. 21A-22B, in some embodiments, a mobile robot configured to perform a plurality of tasks in an automated storage and retrieval system having a multilevel structure with aisles and vertical or inclined passages therein is provided, the mobile robot comprising: a drive assembly configured to maneuver the mobile robot in the multilevel structure; a status indicator disposed on exterior of the mobile robot; and a controller configured to implement a plurality of tasks and control the status indicator to indicate one or more of a task of the plurality of tasks being performed and a status of the task of the plurality of tasks being performed.

[00127] In some embodiments, the controller is in communication with a workflow setup, and wherein the workflow setup comprises the plurality of tasks to fulfill an order. In some embodiments, the status indicator is static or dynamic in nature. In some embodiments, the status indicator displays an illuminating pattern as a function of real time task of the mobile robot. In some embodiments, the status indicator displays an illuminating pattern as function of a health parameter of the mobile robot. In some embodiments, the status indicator is disposed on an anterior of the mobile robot, on a rear of the mobile robot, or on a side of the mobile robot. In some embodiments, the status indicator comprises a multi-color light that can emit light having different colors depending on the task being performed or the status of the task being performed. In some embodiments, each different color corresponds to a given task being performed or a status of the given task being performed. In some embodiments, the status indicator comprises a plurality of lights. In some embodiments, the plurality of lights are arranged in a pattern on the exterior of the mobile robot. In some embodiments, the controller controls the status indicator to provide the indication when the mobile robot is moving and/or stationary. In some embodiments, the mobile robot is configured to transport containers of the automated storage and retrieval system, and wherein the plurality of tasks comprise picking stored containers from the automated storage and retrieval system, dispensing containers from the automated storage and retrieval system, and transporting containers within the automated storage and retrieval system. In some embodiments, plurality of tasks comprise at least one of: charging; a maintenance or testing mode; serving as a barrier; carrying chilled and/or frozen items; traveling to retrieve a given container to deliver to a picking station; traveling to return a given container to storage from the picking station; traveling to store a container in the automated storage and retrieval system; traveling to provide a given container having picked items to an output interface of the automated storage and retrieval system; traveling to a decanting station; and carrying an empty container. And in some embodiments, the status of the task comprises at least one of: a progress of the task including a beginning of the task performance, task perform partially complete, and/or task complete; an error or malfunction in task performance; and a warning associated with a task.

[00128] Further, in some embodiments, a method of use with a performance of a plurality of tasks by a mobile robot in an automated storage and retrieval system having a multilevel structure with aisles and vertical or inclined passages therein is provided, the method comprising: maneuvering, using a drive assembly, the mobile robot in the multilevel structure; executing, by the mobile robot, at least one of a plurality of tasks; and controlling a status indicator disposed on exterior of the mobile robot to indicate one or more of a task of the plurality of tasks being performed and a status of the task of the plurality of tasks being performed.

[00129] In some embodiments, the method further comprises receiving, by the controller, a workflow setup comprising the plurality of tasks to fulfill an order. In some embodiments, the status indicator is static or dynamic in nature. In some embodiments, the controlling step comprises controlling the status indicator to display an illuminating pattern as a function of real time task of the mobile robot. In some embodiments, the controlling step comprises controlling the status indicator to display an illuminating pattern as function of a health parameter of the mobile robot. In some embodiments, the status indicator is disposed on an anterior of the mobile robot, on a rear of the mobile robot, or on a side of the mobile robot. In some embodiments, the status indicator comprises a multi-color light that can emit light having different colors depending on the task being performed or the status of the task being performed. In some embodiments, each different color corresponds to a given task being performed or a status of the given task being performed. In some embodiments, the status indicator comprises a plurality of lights. In some embodiments, the plurality of lights are arranged in a pattern on the exterior of the mobile robot. In some embodiments, the controlling step comprises controlling the status indicator to provide the indication when the mobile robot is moving and/or stationary. In some embodiments, the mobile robot is configured to transport containers of the automated storage and retrieval system, and wherein the plurality of tasks comprise picking stored containers from the automated storage and retrieval system, dispensing containers from the automated storage and retrieval system, and transporting containers within the automated storage and retrieval system. In some embodiments, the plurality of tasks comprise at least one of charging; a maintenance or testing mode; serving as a barrier; carrying chilled and/or frozen items; traveling to retrieve a given container to deliver to a picking station; traveling to return a given container to storage from the picking station; traveling to store a container in the automated storage and retrieval system; traveling to provide a given container having picked items to an output interface of the automated storage and retrieval system; traveling to a decanting station; and carrying an empty container. And in some embodiments, the status of the task comprises at least one of: a progress of the task including a beginning of the task performance, task perform partially complete, and/or task complete; an error or malfunction in task performance; and a warning associated with a task.

[00130] some embodiments, a method of communicating a real time task of a mobile robot, the mobile robot configured to perform a plurality of tasks to fulfill an order in an automated storage and retrieval system, the mobile robot comprising a local controller configured to communicate with a central control system, the local controller configured to operate at least one status indicator located on an exterior of the mobile robot is provided, the method comprising: receiving the order via the central control system; generating, within the central control system, a workflow setup with the plurality of tasks to fulfill the order; distributing the plurality of tasks to one or more mobile robot; receiving assigned tasks to the mobile robot, via the local controller; operating a status indicator, via the local controller; and performing the assigned task; wherein the status indicator indicates one or more of the assigned task being performed and a status of the assigned task being performed.

[00131] The above discussed example mobile robot may comprise container transfer assembly for effective onboarding and offloading container therewith without or with minimal wear to example container, transfer assembly and/or the mobile robot. Further, the container transfer assembly may comprise one or more sub-assemblies or mechanisms that may jointly operate to facilitate required functioning of the example container transfer assembly.

[00132] The above discussed example mobile robot may further comprise a charge toe assembly to facilitate charging of said mobile robot. More specifically, the charge toe assembly may provide interface between charge contact and charge rail by participating in a synchronized extensionretraction operation. Said operation may be a function of motion of vertical drive assembly provided on the mobile robot. The above discussed interplay of motion of vertical drive assembly and auxiliary mechanism in the charge toe assembly may ensure safe extension and retraction of charge contact to interface charge rail in the exemplary multilevel structure.

[00133] The above discussed example mobile robot may further include access regions to manually access one of more assemblies therein. Moreover, the exemplary mobile robot may provide safety features to guard or protect mobile robot in case of collision and absorb at least a portion of impact to minimize wear to the mobile robot. As also discussed in the above disclosure, example mobile robots may provide status indicator that may be optical in nature. These indicators may be positioned at pre-determined locations on the body of mobile robot and may be static or dynamic in nature. Said status indicators may serve to convey real time status or task that may be under performance by respective mobile robot.

[00134] This application describes various embodiments of improvements to mobile robots and their operation in at least a partial automated storage and retrieval system. The following provides several examples of various embodiments.

[00135] In accordance with one aspect, an example is provided for a container transfer assembly configured to onboard or offload the container on a payload platform of a mobile robot, the container comprising a first wall, a second wall disposed parallel to the first wall, at least one side disposed generally perpendicular to the first wall and the second wall, the mobile robot configured to transport the container to pre-determined location/s in an automated storage and retrieval facility. The container transfer assembly comprising: a platform rail adjoining the payload platform; a conveyer disposed about the platform rail and configured to travel along length of the platform rail; a first finger coupled to the conveyor and extends away from the platform rail, the first finger configured to travel with the conveyor; a second finger coupled to the conveyor and extends away from the conveyor, the second finger further configured to be opposingly positioned from the first finger and travels with the conveyor, and a receptacle disposed on the first wall and/or the second wall of the container, the receptacle further configured to interface the first finger and/or the second finger, wherein operational interface between the first finger and the receptacle or the second finger and the receptacle facilitate onboarding of the container to the payload platform or offloading of the container from the payload platform of the mobile robot. The platform rail of container transfer assembly may comprise one or more rotary module adjoining a rail frame. The platform rail may further comprise one or more travel guides disposed longitudinally on opposing sides of the platform rail. The conveyor may be disposed between the one or more travel guides and may loop the one or more rotary module and the rail frame. The first finger and the second finger may have varying dimensions. The container transfer assembly may further comprise a first coupler configured to facilitate mounting the first finger on the conveyor and a second coupler configured to facilitate mounting the second finger on the conveyor. The receptacle of the container may further comprise a cavity portion and a detent portion. The first finger and/or the second finger may further comprise one or more rollers disposed at a distal end from the conveyor, wherein the first finger may operatively interface the cavity portion and the second finger may operatively interfaces the dent portion.

[00136] In accordance with one aspect, an example is provided for a transferable container configured to house one or more eaches, the transferable container further configured to be transferred to/from a mobile robot. The mobile robot may carry the transferable container to required location/s in an automated storage and retrieval facility. The mobile robot may comprise a container transfer assembly having a payload platform, a platform rail, a first finger and a second finger, the first finger and the second finger configured to travel on a conveyor or conveyer. The container may further comprise: a first wall; a second wall disposed parallel to the first wall; one or more sides positioned generally perpendicular to the first and the second wall; and at least one receptacle provided on the first wall and/or the second, wherein the at least one receptacle interfaces the first finger and/or the second finger to onboard the transferable container to the mobile robot or offload the transferable container from the mobile robot. Moreover, the transferable container may further comprise an upper rim area bordering the transferable container. The one receptacle may be constructed proximal to an edge of the upper rim area and may further comprise a pocket and/or a cavity. The pocket may be configured to interface the first finger and the cavity may be configured to interface the second finger. The transferable container may also comprise a transfer axis that may be parallel to the first wall and the second wall, wherein onboarding and offloading occurs along the transfer axis.

[00137] In accordance with another aspect, an example is provided for a transfer assembly configured to operate in an automated storage and retrieval system and may comprise: a mobile robot. The example mobile robot may further comprise: a payload platform; a platform rail adjoining the payload platform; a conveyor or conveyer disposed about the platform rail and configured to travel along length of the platform rail; a first finger coupled to the conveyor and extends away from the ptatform rail, the first finger configured to travel with the conveyor, and a second finger coupled to* the conveyor and extends away from the conveyor, the second finger further configured to be opposingly positioned from the first finger and travels with the conveyor; and a transferable container, further comprising: a first wall; a second wall disposed parallel to the first wall; one or more sides positioned generally perpendicular to the first and the second walls; and at least one receptacle provided on the first wall and/or the second wall, wherein the at least one receptacle may interface the first finger and/or the second finger to onboard the transferable container to the mobile robot or offload the transferable container from the mobile robot. The first finger and the second finger may be of varying dimensions. Moreover, the first finger and/or the second finger may further comprise one or more rollers disposed at a distal end from the conveyor. The container receptacle may further comprise a pocket and a cavity. The pocket may operatively interface the first finger and the cavity operatively interfaces the second finger.

[00138] In accordance with one aspect, an example mobile robot is provided, the mobile robot may be configured to travel in a vertical or inclined passage within an automated retrieval and storage system. The example vertical or inclined passage may comprise a track and a charge rail configured to receive a voltage from a facility power source. The mobile robot may further comprise a plurality of energy storage devices disposed in a mobile robot housing and configured to transfer energy to operate the mobile robot; and may comprise a vertical drive assembly disposed proximal to the energy storage devices in the mobile robot housing. The vertical drive assembly may be in operational engagement with the plurality of energy storage devices and may further comprise: a motor configured to transfer linear motion via a lead screw to extend or retract the vertical drive assembly to or from the vertical or inclined passage, respectively. The vertical drive assembly may further comprise a vertical drive shaft operatively coupled to the lead screw, the vertical drive shaft comprising a pinion positioned at a shaft end proximal to the vertical or inclined passage. The vertical drive shaft may be further configured to extend or retract along an axis of rotation of the vertical drive shaft. The vertical drive shaft may be disposed in a shaft housing. A charge rail contact disposed in a charge contact housing and configured to extend or retract along a charge contact axis parallel to the axis of rotation of the vertical drive shaft, the charge contact housing operatively coupled to the lead screw, and may comprise an auxiliary coupling mechanism disposed between the shaft housing and the charge contact housing. Additionally, the auxiliary coupling mechanism may be configured to augment linear motion of the charge contact to connect or disconnect with the charge rail, wherein the lead screw, coupled to the vertical drive shaft and the charge contact and may facilitate synchronized extension and retraction of the vertical drive shaft and the charge contact to and from a dual motion point, respectively, the dual motion point located proximal to the vertical or inclined passage. The auxiliary coupling mechanism may operate consequent to the vertical shaft and the charge contact extending or retracting to or from the dual motion point, respectively, and may complete extension of the charge contact and may connect the charge contact to the charge rail thereby charging the plurality of energy storage devices. The mobile robot may also comprise a primary drive assembly configured to operate the mobile robot in an aisle substantially perpendicular to the vertical or inclined passage. The primary drive assembly may be disposed in the mobile robot housing and operatively interacts with the plurality of energy storage devices. The mobile robot may further comprise a charger disposed as an intermediary between the charge contact and the plurality of energy storage devices, the charger may receive and convert an alternating current to a direct current. The auxiliary coupling mechanism may comprise a pathway disposed on the shaft housing, the pathway further comprising a wall at an end proximal to the pinion of the vertical drive shaft. The auxiliary coupling mechanism may further comprise a travel rail extending from the charge contact housing and disposed substantially parallel to the pathway, the travel rail further configured to contribute to extension and retraction of the charger from the dual motion point. The auxiliary coupling mechanism may also comprise an arm or lever with a first end in operative engagement with the shaft housing and a second end with operative engagement with the charge contact housing. The arm may include a first roller disposed at the first end to travel the pathway on the shaft housing until contact with the wall. The arm may also comprise an aperture disposed at the second end to engage the travel rail via a second roller that may be retained in the aperture. The aperture length may include a start point and an end point and the second roller may travel between the start point and end point. Further, the second roller on achieving the start point may position the charge contact at the dual motion point and the second roller on achieving the end point connects the charge contact with the charge rail.

[00139] In accordance with another aspect of present disclosure, an example mobile robot charging system is provided, wherein the mobile robot may comprise a plurality of energy storage devices to operate in an automated storage and retrieval facility (ASRF) receiving power from a facility power source. The exemplary ASRF may further comprise a plurality of horizontal aisles and a plurality of vertical or inclined passages. The plurality of vertical or inclined passages may further comprise a track with rack teeth and a charge rail to receive a first voltage from the facility power source. In addition to this, the mobile robot charging system may also comprise: a motor to transfer a linear motion via a lead screw coupled therewith, a vertical drive shaft comprising a pinion configured to operatively interface the rack teeth in the track, the vertical drive shaft coupled with the lead screw, thereby receiving the linear motion, the vertical drive shaft may further travel between a shaft retraction point and a shaft extension point. The charging assembly may also comprise a charge contact that may be moveably disposed in a charge contact housing within the mobile robot, the charge contacts to interface the charge rail in the track to receive the first voltage and the charge contact housing may be operatively coupled to the lead screw for receiving the linear motion therethrough. During operation, the charge contact may travel between a charge contact retraction point and a charge contact extension point. The example mobile charging system may further include an auxiliary coupling mechanism disposed between the vertical drive shaft and the charge contact housing. The lead screw may operate to concurrently extend or retract the vertical drive shaft and the charge contact to or from a dual motion point, the dual motion point disposed proximal to the vertical or inclined passage. The auxiliary coupling mechanism may further retract the charge contact from the dual motion point to the charge contact retraction point and may extend the charge contact from the dual motion point to the charge contact extension point. The charge contact may be moveably disposed on a charge truck, the charge truck configured to form a portion of the charge contact housing. The auxiliary coupling mechanism may comprise an arm or lever with a first end operatively coupled to the vertical drive shaft and a second end operatively coupled to the charge contact housing. The pinion of the vertical drive shaft may interface the rack teeth at the shaft extension point. The charge contact may connect with the charge rail at the charge contact extension point. The dual motion point may be disposed between the shaft retraction point and the shaft extension point. The shaft retraction point and the charge retraction point may be distinct.

[00140] In accordance with one aspect of present disclosure, an example method of charging a mobile robot is provided, wherein the mobile robot may travel in a vertical or inclined passage within an automated storage and retrieval system. The example passage may comprise a track and a charge rail to receive a first voltage from a facility power source. The mobile robot may further comprise a plurality of energy storage devices, a vertical drive assembly having a motor, a vertical drive shaft and a charge contact. The vertical drive assembly may interface with the vertical or the inclined passage, the vertical drive assembly may also comprise an auxiliary coupling mechanism disposed between the vertical drive shaft and the charge contact. The exemplary method of charging may comprise: aligning the mobile robot to travel the vertical or inclined passage in the automated storage and retrieval system; transferring a linear motion from the motor to the vertical drive assembly via a lead screw; extending or retracting the vertical drive assembly along a vertical axis; operating the vertical drive assembly such that vertical shaft and the charge contact may achieve a dual motion point; operating the auxiliary coupling mechanism to augment linear motion of the charge contact beyond the dual motion point, and extending or retracting the charge contact to connect or disconnect the charge rail, respective, via the auxiliary coupling assembly. Extending the charge contact beyond the dual motion point may allow connection with the charge rail, thereby transferring power to the plurality of energy storage devices. Further, retracting the charge contact beyond the dual motion point may allow safely securing the charge contact in charge contact housing.

[00141] In accordance with yet another aspect of the present disclosure, an example mobile robot is provided, the mobile robot is configured to perform a plurality of tasks to fulfill an order in an automated storage and retrieval system, the automated storage and retrieval system comprising a multilevel structure with horizontal aisles and vertical or inclined passages therein, the mobile robot further comprising: a drive assembly configured to maneuver the mobile robot in the multilevel structure; a status indicator disposed on an exterior of the mobile robot; and a controller configured to operate the status indicator. The example controller may be in communication with a workflow setup that may comprise the plurality of tasks to fulfill the order. The example status indicator may be static or dynamic in nature. The status indicator may display an illuminating pattern as a function of real time task of the mobile robot. In another example, the status indicator may display an illuminating pattern as a function of a health parameter of the mobile robot.

[00142] In accordance with yet another aspect of the present disclosure there is provided an example method of communicating a real time task of a mobile robot, the mobile robot configured to perform a plurality of tasks to fulfill an order in an automated storage and retrieval system, the mobile robot comprising a local controller configured to communicate with a central control system, the local controller configured to operate at least one status indictor located on an exterior of the mobile robot, the method comprises steps of: receiving the order via the central control system; generating, within the central control system, a workflow setup with the plurality of tasks to fulfill the order; distributing the plurality of tasks to one or more mobile robots; receiving assigned tasks to the mobile robot, vis the local controller, operating the status indicator, via the local controller; and performing the assigned task; wherein the status indicator displays an illuminating pattern as a function of real time task or a health parameter of the mobile robot.

[00143] The foregoing detailed description has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the description to the precise form disclosed. Many modifications and variations are possible considering the above teaching. The described embodiments were chosen in order to best explain the principles of the claimed system and its practical application to thereby enable others skilled in the art to best utilize the claimed system in various embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the method be defined by the claims appended hereto.

Claims

CLAIMS We claim:

1. A mobile robot configured for use within an automated storage and retrieval system (ASRS), the mobile robot comprising: a container transfer assembly configured to onboard and/or offload a container on a payload platform of the mobile robot, the container transfer assembly comprising: a platform rail adjoining the payload platform; a conveyor disposed about the platform rail; a first conveyor coupler coupled to the conveyor and configured to travel with the conveyor; and a first container engagement member coupled to the first conveyor coupler and configured to travel with the first conveyor coupler and the conveyor, the first container engagement member configured to interface with a first portion of the container; wherein operational interface between the first container engagement member and the first portion of the container facilitate onboarding and/or offloading of the container to/from the payload platform.

2. The mobile robot of claim 1, wherein conveyor comprises a belt having a plurality of teeth.

3. The mobile robot of claim 1, wherein first conveyor coupler comprises a first component and a second component that mate to attach the first conveyor coupler to the conveyor.

4. The mobile robot of claim 1, wherein first conveyor coupler comprises a shaft that is held by the first conveyor coupler, wherein the shaft is attached to a portion of the conveyor.

5. The mobile robot of claim 4, wherein shaft comprises a first part and a second part that are connected together with the portion of the conveyor positioned between the first part and the second part.

6. The mobile robot of claim 5, wherein the conveyor is a belt and the second part of the shaft has a surface shaped to fit about a tooth of the belt.

7. The mobile robot of claim 1, wherein first conveyor coupler comprises one or more bearings to facilitate movement of the first conveyor coupler with the conveyor relative to the platform rail.

8. The mobile robot of claim 1, wherein first conveyor coupler comprises one or more washers to contact a portion of the platform rail.

9. The mobile robot of claim 1, wherein first conveyor coupler comprises one or more posts to support one or more bearings to facilitate movement of the first conveyor coupler with the conveyor relative to the platform rail.

10. The mobile robot of claim 1, wherein the platform rail comprises one or more rotary adjoining a rail frame.

11. The mobile robot of claim 1, wherein the platform rail further comprises one or more travel guides disposed longitudinally along the platform rail.

12. The mobile robot of claim 11, wherein the conveyor is disposed between the one or more travel guides and loops around the one or more rotary and a rail frame.

13. The mobile robot of claim 1, wherein one or more bearings of the first conveyor coupler contact a travel guide of the platform rail.

14. The mobile robot of claim 1, wherein portions of the first conveyor coupler movably contact a travel guide of the platform rail during movement of the first conveyor coupler and the conveyor.

15. The mobile robot of claim 1, wherein two portions of the first conveyor coupler are situated on a first side of the first conveyor coupler on opposing sides of an axis of the first container engagement member and movably contact a travel guide of the platform rail during movement of the first conveyor coupler and the conveyor.

16. The mobile robot of claim 1, wherein two portions of the first conveyor coupler are situated on opposing sides of the first conveyor coupler and movably contact a travel guide of the platform rail during movement of the first conveyor coupler and the conveyor.

17. The mobile robot of claim 1, wherein the first conveyor coupler facilitates mounting the first container engagement member on the conveyor.

18. The mobile robot of claim 17, wherein the first container engagement member is attached to the first conveyor coupler, and the first conveyor coupler is attached to a portion of the conveyor.

19. The mobile robot of claim 1, wherein the first conveyor coupler operatively interacts with a rotary when the first container engagement member reaches an end of the platform rail.

20. The mobile robot of claim 19, wherein the rotary includes a notch configured to engage a portion of the first conveyor coupler.

21. The mobile robot of claim 1, further comprising: a second conveyor coupler coupled to the conveyor and configured to travel with the conveyor; and a second container engagement member coupled to the second conveyor coupler and configured to travel with the second conveyor coupler and the conveyor, the second container engagement member configured to interface with a second portion of the container.

22. The mobile robot of claim 21, wherein the first container engagement member and/or the second container engagement member further comprise one or more rollers disposed at a distal end from the conveyor.

23. An automated storage and retrieval system, comprising: a storage area configured to store containers having items contained therein; and a plurality of mobile robots, each comprising a container transfer assembly configured to onboard and/or offload a container on a payload platform of a mobile robot, the container transfer assembly of each mobile robot comprising: a platform rail adjoining the payload platform; a conveyor disposed about the platform rail; a first conveyor coupler coupled to the conveyor and configured to travel with the conveyor; and a first container engagement member coupled to the first conveyor coupler and configured to travel with the first conveyor coupler and the conveyor, the first container engagement member configured to interface with a first portion of the container; wherein operational interface between the first container engagement member and the first portion of the container facilitate onboarding and/or offloading of the container to/from the payload platform.

24. A method for use a mobile robot within an automated storage and retrieval system (ASRS), the method comprising: supporting a container on a payload platform of the mobile robot; moving a conveyor and a first conveyor coupler coupled to the conveyor, wherein the conveyor is disposed about a platform rail of a container transfer assembly of the mobile robot, wherein the platform rail adjoins the payload platform of the mobile robot; interfacing, with a first container engagement member coupled to the first conveyor coupler that moves with the first conveyor coupler and the conveyor, a first portion of the container; and moving, through movement of the first container engagement member after interfacing the first container portion, the container in a direction to onboard or offload the container to/from the payload portion.

25. The method of claim 24, wherein conveyor comprises a belt having a plurality of teeth.

26. The method of claim 24, wherein first conveyor coupler comprises a first component and a second component that mate to attach the first conveyor coupler to the conveyor.

27. The method of claim 24, wherein first conveyor coupler comprises a shaft that is held by the first conveyor coupler, wherein the shaft is attached to a portion of the conveyor.

28. The method of claim 27, wherein shaft comprises a first part and a second part that are connected together with the portion of the conveyor positioned between the first part and the second part.

29. The method of claim 28, wherein the conveyor is a belt and the second part of the shaft has a surface shaped to fit about a tooth of the belt.

30. The method of claim 24, wherein first conveyor coupler comprises one or more bearings to facilitate the step of moving of the moving a conveyor and a first conveyor coupler.

31. The method of claim 24, wherein first conveyor coupler comprises one or more washers to contact a portion of the platform rail.

32. The method of claim 24, wherein first conveyor coupler comprises one or more posts to support one or more bearings to facilitate the step of moving of the moving a conveyor and a first conveyor coupler.

33. The method of claim 24, wherein the platform rail comprises one or more rotary adjoining a rail frame.

34. The method of claim 24, wherein the platform rail further comprises one or more travel guides disposed longitudinally along the platform rail.

35. The method of claim 34, wherein the conveyor is disposed between the one or more travel guides and loops around the one or more rotary and a rail frame.

36. The method of claim 24, wherein one or more bearings of the first conveyor coupler contact a travel guide of the platform rail.

37. The method of claim 24, wherein portions of the first conveyor coupler movably contact a travel guide of the platform rail during the step of moving of the moving a conveyor and a first conveyor coupler.

38. The method of claim 24, wherein two portions of the first conveyor coupler are situated on a first side of the first conveyor coupler on opposing sides of an axis of the first container engagement member and movably contact a travel guide of the platform rail during the step of moving of the moving a conveyor and a first conveyor coupler.

39. The method of claim 24, wherein two portions of the first conveyor coupler are situated on opposing sides of the first conveyor coupler and movably contact a travel guide of the platform rail during the step of moving of the moving a conveyor and a first conveyor coupler.

40. The method of claim 24, wherein the first conveyor coupler facilitates mounting the first container engagement member on the conveyor.

41. The method of claim 40, wherein the first container engagement member is attached to the first conveyor coupler, and the first conveyor coupler is attached to a portion of the conveyor.

42. The method of claim 24, comprises interacting, by the first conveyor coupler, with a rotary when the first container engagement member reaches an end of the platform rail during the step of moving of the moving a conveyor and a first conveyor coupler.

43. The method of claim 42, wherein the rotary includes a notch configured to engage a portion of the first conveyor coupler.

44. The method of claim 24, further comprising: moving the conveyor and a second conveyor coupler coupled to the conveyor; and interfacing, with a second container engagement member coupled to the second conveyor coupler that moves with the second conveyor coupler and the conveyor, a second portion of the container.

45. The method of claim 44, wherein the first container engagement member and/or the second container engagement member further comprise one or more rollers disposed at a distal end from the conveyor.

46. The method of claim 44, wherein the step of moving the container in the direction to onboard or offload the container to/from the payload portion comprises: moving, through movement of the first container engagement member after interfacing the first container portion and of the second container engagement member after interfacing the second container portion, the container in the direction to onboard or offload the container to/from the payload portion.