Robot using subdivided totes

An autonomous mobile robot for use in a warehouse including one or more storage units for holding a plurality of source totes each associated with one or more items and each including a plurality of compartments, the autonomous mobile robot comprising:

• a mobile robot base including a base body having a top surface and a plurality of wheels;
• a camera;
• a tote structure disposed on the top surface of the base body, the tote structure including:
• a tote holder configured to hold one or more order totes having a plurality of compartments for storing one or more items in each compartment;
• a platform on the top surface of the mobile robot base and adjacent the tote array, the platform having a first surface portion configured to hold a source tote having a plurality of compartments retrieved from a storage unit and a second surface portion adjacent to the first surface portion and configured to receive an order tote from the tote holder;
• a tote manipulator mechanism configured to remove the source tote from the storage unit and place it on the first surface portion of the platform;
• a robotic pick arm disposed between the first surface portion and the second surface portion of the platform;
• a controller and a memory, the memory storing instructions that, when executed by the controller, cause the autonomous mobile robot to:
• navigate from an initial location in the warehouse to a destination location, the destination location being associated with the source tote stored in the storage unit, the source tote having a first identifier on a first external surface and a second identifier on a second external surface;
• read, using the camera, either the first identifier or the second identifier on the source tote, depending on which is visible to the camera when the autonomous mobile robot is at the destination location;
• cause tote manipulator mechanism to remove the source tote from the storage unit and place it on the first surface portion of the platform;
• determine the position of the plurality of compartments in the source tote relative to the robotic pick arm based on whether the first identifier or the second identifier is read.