TWI588071B - Replenishment and order fulfillment system - Google Patents

Description

Supplemental and order fulfillment system Cross-reference related application

The present application is hereby incorporated by reference in its entirety in its entirety in its entirety in its entirety in the the the the the the the the the the the the the the

The exemplary embodiments are generally related to an order replenishment system and, more specifically, to an automated order replenishment system.

Supplemental and order fulfillment is a major part of the operations in this retail sector and is a significant cost factor. Improvements in systems and methods for performing replenishment and order fulfillment that result in higher efficiency (e.g., production) and lower fulfillment costs will provide significant advantages to retail businesses that enjoy the results of such improvements. In general, supplements to stores (such as retail stores or other stores where consumers can obtain various merchandise units) are performed by warehouses that, in comparison with the store, provide improved bulk storage capacity by nature. The warehouse and store are naturally connected by a transport system that is geographically remote from the warehouse and store, which may include, for example, a shipping system, and/or other suitable shipping system, such as a gantry Pallet/fork cranes, continuous mass transport systems (eg belt/roller conveyors, air bearing slides, etc.), and robotic vehicles. In another example, the warehouse can be substantially adjacent to the store. If it can be implemented, the warehouse can be provided A store, a sorting and shipping system for storing and handling product boxes. A box means a shipping container, such as a carton, box, etc., that can accommodate one or more products or items of merchandise, and is used to form the blocks of the shipping rack. A product or item of goods is used herein to mean an individual base unit obtained by the customer at the store, which may be from one or more items (eg, individual canned packages or multi-canned packages are all unit of goods) composition. A product box means a box that holds only the product units of the common product type, and may be stocked by a single manufacturer or distributor or from a single manufacturer or distributor, before placing an order and finally using it for tracking. If implemented, the warehouse can be a storage, sorting, and shipping system that is provided with a supplement and order fulfillment of the storage product box. The use of the storage can be referred to as an order line search supplement. Each order line corresponding to a store customer confirms the type/exclusive identification of the item being sought and the number of items sought. If implemented, the number of units of the item may be more or less than the capacity of the box. Accordingly, if the order quantity is less than one case, the replenishment can be performed by transporting the item unit from the product box and the shipping container, such as a shipment (or can also be referred to as a description for the purpose of narration) Each of them). The shipment is a container suitable for use in racking and shipping. If it can also be implemented, the shipment can contain items of different product types and sizes.

SUMMARY OF THE INVENTION AND EMBODIMENT

Referring to Figure 1, there is shown a schematic plan view of a device, such as a warehouse, having a storage system for storing, sorting, and shipping product boxes within the device, and a store (such as a grocery store, retail or its He stores) and supplemental systems that complement and order fulfillment of other customers of the individual, and incorporate features in accordance with the disclosed embodiments. Although the aspects of the disclosed embodiments are described with reference to the drawings, it is understood that the aspects of the disclosed embodiments can be embodied in many alternative forms. Furthermore, any suitable size, shape or pattern of elements or materials can be used.

Still referring to FIG. 1, the warehousing system 12 in the apparatus can be at least partially automated. A suitable example of an automated warehousing system is described in U.S. Provisional Application No. 61/168,349, filed on April 10, 2009, entitled "Storage and Retrieval System"; filed on April 9, 2010, entitled "Storage" And U.S. Patent Application Serial No. 12/757,220, filed on Apr. 9, 2010, the disclosure of which is incorporated herein to U.S. Patent Application Serial No. 12/757,381, filed on Apr. 9, 2010, entitled "Storing and Retrieving System;" U.S. Patent Application Serial No. 12/757,354, filed on A. All are incorporated herein by reference. It should be understood that the storage system can be of any suitable type and configuration. As can be implemented, the warehousing system 12 is configured to process product crates, (as well as product shipments and shipments), which can be moved on the gantry and can be removed from the gantry for storage and retrieve. For example, in one aspect and with reference to FIG. 2, the storage system 12 can be coupled to the storage and retrieval system 100 in any suitable manner, which is substantially similar to the previous reference The manner is as described in U.S. Patent Application Serial No. 12/757,220. Like the warehousing system 12, the storage and retrieval system 100 can be constructed for installation in, for example, an existing warehouse structure or designed to accommodate a new warehouse structure. In one example, the storage and retrieval system 100 can include feed and discharge transfer stations 170, 160, inbound conveyor belt 150A, outward conveyor belt 150B, storage structure 130, and a number of autonomous vehicle-mounted transport robots 110 ( In this context, it means "bots"). The storage structure 130 can include a multi-layer storage rack module, where each layer includes an individual picking walkway 130A, and any one of the storage areas for the storage structure 130 and any inbound conveyor belt 150A, The transfer platform 130B of the cassette unit is transferred between any of the shelves of the outer conveyor belt 150B. The picking walkway 130A, and the transport platform 130B, also allows the robots to place the box unit into the box unit that picks up the stock and retrieves the order. The robots 110 can be configured to place a box unit, such as the retail item, into a pick-up inventory in one or more of the storage structures 130, and then selectively retrieve the box unit of the order for use The cassette units of the order are shipped to, for example, a store or the cassette units are transferred to the storage system 12 as will be described below. The feed transfer station 170 and the discharge transfer station 160 can operate with their respective inbound conveyor belts 150A and outward conveyor belts 150B for bidirectionally transferring one or more layers of the cassette unit to the storage structure 130 and One or more of the storage structures 130 transport the cassette unit. It should be understood that each of the inbound conveyor belts 150A and the outward conveyor belts 150B can be used for both inbound and outbound delivery of the box unit/box unit from the storage and retrieval system.

When the transfer box unit leaves the storage and retrieval system 100, The robot 110 can place the storage units on the outer conveyor belt 150B in any suitable manner. The outward conveyor belt 150B can transport the cassette unit to the discharge transfer stations 160, and the discharge transfer stations can be constructed to prepare the cassette units for transporting or transporting the cassette units to one The conveyor belt 13 to be transferred to the storage system 12 (see also Figure 1). For example, the conveyor belt can be coupled to an outward conveyor belt 150B of the storage and retrieval system 100, or any other suitable source of supply for an inbound multi-vertical conveyor (MVC) 150I having the storage system 12. As may be realized, during transport of the cassette unit and its contents between the storage and retrieval system 100 and the storage system 12, the cassette unit or its contents may be prepared in any suitable manner for use in the storage. In system 12. As an example, the conveyor belt may include a box or container top removal station that exposes the contents of the box unit for each pick as described herein such that the box unit becomes a product shipment Things. In another example, the contents of the carton unit can be transferred to another container or shipment (eg, a product shipment).

As seen in FIG. 1, and also with reference to FIGS. 4-4C, the warehousing system 12 can generally include storage locations that can accommodate, for example, unfilled boxes, such as product crates and product shipments (eg, configured in teeth) In the strip, it can be stacked upright, as shown in Figure 4, and distributed along the walkway. If achievable, the same type of product shipment PT or unfilled bin can be stored in different locations within the storage structure 130 such that when the other type of article is not available, the article At least one of them can be retrieved. The storage and retrieval system can also be constructed to provide to each storage location (eg picking) Most of the bits are close to the path or route so that if the primary path to the storage location is blocked, the bot 110 can reach each storage location using, for example, the second path.

It should be noted that the storage and retrieval system shown herein has only exemplary configurations and may have any suitable fabric and components for storing and retrieving the cartridge unit as described herein. For example, the storage and retrieval system shown in FIG. 1 has a single end storage system (for example, the module 20 and the transfer platform 130B are only located on one end of the picking aisle 130A and the storage rack 500X). However, it should be understood that the modules 20 and the transfer platform 130B can be positioned on both ends of the picking walkway 130A and the storage rack 500X as shown in FIG. 1A. If implemented, the storage and retrieval system can also have any suitable number of storage sections or racks 500X, any suitable number of delivery platforms 130B, and corresponding modules 20. As a further example, a storage and retrieval system in accordance with aspects of the disclosed embodiments can include a transfer platform and corresponding modules 20 located on three or four sides of the storage sections for loading settings, such as loading settings The function of the platform on various sides of the building, or the modules may be located between the two storage sections such that the storage sections extend laterally from the transport platforms, the transport platforms extending therefrom Between the storage sections and the provision of product and/or order shipments to the upright conveyor belt fed to the modules 20.

Referring to Figures 4A-4C, the storage structure 130 of the warehousing system 12 will be described in greater detail. According to an exemplary embodiment, the storage structure 130 includes, for example, any suitable number of upright brackets 612 and any suitable number of horizontal brackets 610, 611, 613. It should be noted that the words erect and horizontal are only It is only used for demonstration purposes, and the support of the storage structure 130 can have any suitable spatial orientation. In the exemplary embodiment, the upright brackets 612 and the horizontal brackets 610, 611, 613 can form an array of storage modules 501, 502, 503 having storage sections 510, 511. The horizontal brackets 610, 611, 613 can be constructed to support the storage shelves 600 (described below) and the floors or tracks within the picking walkways 130A (for the robots 110 to travel). The horizontal brackets 610, 611, 613 can be constructed to minimize the number of splices between the horizontal brackets 610, 611, 613, and thus minimize the number of splices that the tires of the robots 110 will encounter. For exemplary purposes only, the walkway floor 130F may be a solid floor made of a metal laminate having, for example, a wood core sandwiched between a plurality of sheet metal sheets. As can be achieved, the floor of the storage system 12 can have any suitable layering, lamination, solid or another structure and be made of any suitable material including, but not limited to, plastic, metal, wood. And synthetics. In one aspect of the disclosed embodiment, the floors can be fabricated as a honeycomb structure or another suitable lightweight and substantially strong structure. The floors can be coated with or treated with a wear resistant material or contain replaceable sheets or plates that can be replaced when worn. Tracks 1300 (Fig. 3D) for such robots 110 can be incorporated or otherwise secured to, for example, the aisle floor for a line that travels substantially as the 110 is traveling within the storage structure 130 Or the robots 110 are guided in the path. A suitable example of a track 1300 is described in U.S. Patent Application Serial No. 12/757,312, the disclosure of which is incorporated herein by reference. The floors can be in any suitable manner One or more are attached to, for example, the upright and horizontal supports (or any other suitable support structure), such as any suitable fastener including, but not limited to, bolts and welds. In an exemplary embodiment, as can be seen in Figure 3D, the track 1300 for the robots 110 can be secured to one or more upright brackets of the storage structure in any suitable manner such that the robot straddles Adjacent tracks 1300 are used to traverse a picking walkway 130A. As can be seen in Figure 3D, one or more of the picking walkways can be substantially unobstructed by the floor (e.g., the picking walkways do not have a floor). The absence of a floor on each pick-up layer allows the service personnel to walk down the picking walkway, where the height between each storage floor will substantially otherwise prevent the service personnel from traversing the picking walkway.

Still referring to FIG. 4-4C, each of the storage sections 510, 511 can hold one or more product shipments PT and/or order shipments CT on the storage shelf 600, the storage shelves 600 being Wait for the walkway 130A to separate (see also Figure 1). It should be noted that the product shipment PT and the order shipment CT may be placed on the same shelf adjacent to each other (eg, the product shipment is tied to the order shipment and vice versa), as shown in Figure 4B. In the same storage array as on the same layer as the storage structure 130 of FIG. 1, or the product shipment PT may be separated from the order shipment CT and vice versa (eg, a storage walkway of the storage rack 500X) The 500X has a product shipment and another different storage walkway has an order shipment, or one layer of the storage structure has a product shipment and another different layer of the storage structure has an order shipment). A controller, such as controller 120, can be constructed to mark and track the storage locations of the shipments CT, PT for passing The warehousing system 12 manipulates the shipments CT, PT. It should also be noted that in one aspect of the disclosed embodiment, the upright brackets 612 and/or the horizontal brackets 610, 611, 613 can be constructed to allow for adjustment of the storage shelves and/or floors relative to each other, for example. The height or elevation of each other and the floor of the device, and the storage and retrieval system is located in the device. In another aspect, the storage shelves and floors can be secured to the elevation. As can be seen in Figure 4A, the storage module 501 is constructed as an end module having, for example, about half the width of the other storage modules 502, 503. As an example, the end module 501 can have a wall surface on one side and a picking walkway 130A on the opposite side. The depth D1 of the end module 501 can be such that the access to the storage shelf 600 on the module 501 is achieved by the picking walkway 130A located only on one side of the storage module 501, and vice versa. The storage shelves 600 of the modules 502, 503 can be accessed by the picking walkway 130A located on both sides of the modules 502, 503, as an example, allowing for a substantially The storage modules 502, 503 of the storage module 501 are twice as deep as the depth D1.

The storage shelves 600 can include one or more support legs 620L1, 620L2 extending from, for example, the horizontal brackets 610, 611, 613. The support legs 620L1, 620L2 can have any suitable configuration and can be, for example, a portion of the substantially U-shaped channel 620 such that the legs are coupled to each other through the channel portion 620B. The channel portion 620B can provide an attachment point between the channel 620 and one or more of the horizontal supports 610, 611, 613. In an alternate embodiment, each of the support legs 620L1, 620L2 can be constructed to be individually mounted to the horizontal brackets 610, 611, 613. In the exemplary embodiment, each of the support legs 620L1, 620L2 includes curved portions 620H1, 620H2 having suitable surface areas that are configured to support the cassette units stored on the shelves 600. The curved portions 620H1, 620H2 can be constructed to substantially prevent deformation of the cassette unit stored on the shelves. In other aspects of the disclosed embodiment, the leg portions 620H1, 620H2 may have a suitable thickness or have any other suitable shape and/or configuration for supporting the shelves. The box unit that is stored. As can be seen in Figures 17A and 17B, the support legs 620L1, 620L2 or channels 620 can form a truss-like or corrugated shelf assembly, such as the support legs 620L1 The space 620S between 620L2 allows the arm or finger of the robot 110 to extend into the shelf set for transporting the case to the shelf and transporting the case from the shelf. It should be noted that the support legs 620L1, 620L2 of the shelves 600 can be constructed for storage of the box unit, where adjacent box units are separated from each other by any suitable distance. For example, in the direction of arrow 698, the pitch or spacing between the support legs 620L1, 620L2 may be such that the cassette units are placed on the shelf 600 with between the cassette units A distance of about one distance, such that when the cassette units are placed on the shelves by the robots 110 and removed from the shelves, for example, the contact between the cassette units is minimized. For demonstration purposes only, the box units located adjacent to each other may be spaced apart by a distance of approximately 2.54 cm, such as in direction 698. In alternative embodiments, the spacing between the box units on the shelves may be any suitable spacing. It should also be noted that the transfer of the box unit to the inbound conveyor belt 150A, the outward conveyor belt 150B and the delivery from the inbound station The belt 150A, the outer conveyor belt 150B transporting the cassette unit (whether or not the transfer is caused directly or indirectly by the robot 110) can occur substantially in a manner substantially as described above with respect to the storage shelves 600.

The warehousing system can also include, for example, a transport system that includes an autonomous vehicle or robot 110 and lifter 150 (see also Figures 3 and 5, showing an exemplary transport device, such as a robotic vehicle 110 and a lifter 150, such as a continuous upright transport The belt, which can be capable of handling, for example, both unfilled boxes and products and shipments, is capable of transporting the boxes and shipments to and from the storage array and transporting the boxes and shipments from the storage locations. If implemented, the shipping system is capable of placing the carton and the shipment into a desired location within the device and retrieving the bin and the shipment from the storage location for performing replenishment and order fulfillment, as will be further below Narrator. As mentioned previously, the illustrated configuration of the warehousing or storage and retrieval system is merely exemplary, and in alternative embodiments, the system can have any desired configuration.

Referring to Figures 3A-3N, the robots 110 generally include a frame 1200, a drive system 1210, a control system 1220, and a load bearing area 1230. The drive system 1210 and control system 1220 can be mounted to the rack in any suitable manner. The frame can form the load bearing area 1230 and be configured to movably mount the transfer arm or actuator 1235 to the robot 110.

In one example, the drive system 1210 can include two drive wheels 1211, 1212 disposed at the drive end 1298 of the robot 110 and two idlers 1213, 1214 disposed at the drive end 1299 of the robot 110. The wheels 1211-1214 can be mounted to the machine in any suitable manner Rack 1200, and is, for example, made of any suitable material, such as low rolling resistance polyurethane. It should be noted that the robot 110 can have any suitable number of drive wheels and idlers. In one aspect of the disclosed embodiment, the wheels 1211-1214 can be substantially fixed relative to the longitudinal axis 1470 (FIG. 3F) of the robot 110 (eg, the rotational planes of the wheels are relative to the longitudinal direction of the robot 110 The shaft 1470 is fixed in a substantially parallel orientation to allow the robot 110 to move in a substantially linear manner, such as when the robot is on the transport platform 130B (e.g., Figure 1) or in a picking walkway 130A ( For example, when moving inside Figure 1). In other aspects of the disclosed embodiment, the rotational plane of one or more of the drive wheels and idlers can be pivoted (eg, steerable) relative to the longitudinal axis 1470 of the robot for relative The longitudinal axis 1470 rotates one or more of the idler or drive wheels to provide steering capability to the robot 110. The wheels 1211-1214 can be substantially securely mounted to the frame 1200 such that the shaft of each wheel is substantially stationary relative to the frame 1200. In other aspects of the disclosed embodiment, the wheels 1211-1214 can be movably mounted to the frame by, for example, any suitable suspension device such that the shafts of the wheels 1211-1214 are relative to the frame 1200 sports. The movably mounting the wheels 1211-1214 to the gantry 1200 can allow the bot 110 itself to remain level on an uneven surface while maintaining the wheels 1211-1214 in contact with the surface.

Each of the drive wheels 1211, 1212 can be separately driven by individual motors 1211M, 1212M. The drive motors 1211M, 1212M can be any suitable motor, such as a DC motor for demonstration purposes only. The motors 1211M, 1212M can be powered by any suitable power source The power is supplied, for example, by a capacitor 1400 (Fig. 4B) mounted to the chassis 1200, for example. If implemented, the power source can be, for example, any suitable power source, such as a battery or a fuel cell. In still other aspects, the motors can be alternating current motors or internal combustion motors. The motors may also be a single motor with dual independently operable drive trains/transmissions for independently driving each drive wheel. The drive motors 1211M, 1212M can be configured for bi-directional operation and can be individually operated, for example, under the control of the control system 1220, for performing the manipulation of the robot 110, as will be described below. When the robot is in either the forward orientation (eg, the drive end 1298 in the direction of trailing travel) or an inverted orientation (eg, the drive end 1298 in the direction of the lead travel), the motors 1211M, 1212M may The robot 110 is configured to drive the robot 110 at any suitable rate at any suitable rate. In one aspect of the disclosed embodiment, the motors 1211M, 1212M are configured to directly drive their individual drive wheels 1211, 1212, while in other aspects, the motors 1211M, 1212M may be adapted to any suitable Transmissions, such as drive shafts, belts and pulleys, and/or gearboxes are indirectly coupled to their individual wheels 1211, 1212. The drive system 1210 of the robot 110 can include, for example, an electric brake system, such as a regenerative braking system (e.g., charging the capacitor 1400 (Fig. 3F), such as powering the robot 110 under braking). In an alternate embodiment, the robot 110 can include any suitable mechanical brake system. The drive motors can be constructed to provide any suitable acceleration, reduction ratio, and any suitable robot travel rate. For demonstration purposes only, the motors 1211M, 1212M can be constructed for the robot (when the robot is loaded at full load) An acceleration/deceleration ratio of about 3.048 meters per square second, a transmission platform 130B corner rate of about 1.524 meters per second, and a conveyor platform linear travel rate of about 9.144 meters per second or about 10 meters per second.

As described above, the drive wheels 1211, 1212 and the idlers 1213, 1214 are substantially fixed relative to the frame 1200 for guiding the robot along a substantially straight path as the robot is traveling on the transfer platform 130B. 110 (for example, Figure 1). Corrections in the linear paths can be made by differential rotation of the drive wheels 1211, 1212, as described herein. In other aspects of the disclosed embodiment, guide rollers 1250, 1251 can be mounted to the frame to assist in guiding the robot 110 on the transfer platform 130B, such as through wall contact with the transfer platform 130B, Or a track may be provided on the transfer platform in a manner substantially similar to the picking walkway 130A (provided to allow the robots 110 to open the transfer platform 130B and enter the picking walkway 130A) The robot 110 is guided. However, in this example, the fixed drive wheels and idlers 1211-1214, for example, cannot provide brisk manipulation of the robot 110, such as when the robot 110 is transitioning to the picking walkway 130A, the transport platform 130B, Or when transferring between areas 295. In one aspect, the robot 110 can be provided with one or more retractable casters 1260, 1261 for transitioning between the picking walkway 130A, the transport platform 130B, and the robotic transfer stations 140A, 140B. At this time, the robot 110 is allowed to make a turn such as a substantially right angle. It should be noted that while the two casters 1260, 1261 are shown and described, in other aspects of the disclosed embodiment, the robot 110 can have more or fewer casters than two retractable casters. Such can The telescoping casters 1260, 1261 can be mounted to the frame 1200 in any suitable manner such that when the casters 1260, 1261 are in a retracted position, the idler wheels 1213, 1214 and the drive wheels 1211, 1212 The system is in contact with a floor surface such as the surface 1300S of the track 1300 or the transfer platform 130B of the storage structure 130, and when the casters 1260, 1261 are lowered, the idler wheels 1213, 1214 are lifted off the floor surface. . When the casters 1260, 1261 are extended or lowered, the idler pulleys 1213, 1214 are lifted off the floor surface such that the drive end 1299 of the robot 110 can be rotated differently by, for example, the drive wheels 1211, 1212. And pivoting around the point P of the robot. For example, the motors 1211M, 1212M can be individually and differentially operated to cause the robot 110 to pivot about a point P that is located, for example, between the wheels 1211, 1212, and The drive end portion 129 of the robot is thereby swung around the point P via the casters 1260, 1261.

In other aspects of the disclosed embodiment, the idler pulleys 1213, 1214 can be replaced by non-retractable casters 1260', 1261' (Fig. 3G), where the linear motion of the robot is by the drive wheels Each of 1211, 1212 is controlled by a different rate of rotation, as described herein. The non-retractable casters 1260', 2261' can be releasably lockable casters such that the casters 1260', 1261' can be selectively locked in a predetermined rotational orientation to, for example, assist along the path of travel. The robot 110 is cited. For example, during linear motion of the robot 110 on the transport platform 130B and/or within the picking walkway 130A, the non-retractable casters 1260', 1261' can be locked in an orientation such that The casters 1260', 1261' The wheels are substantially aligned with one of the drive wheels 1213, 1214 (e.g., the rotary plane of the wheels of the casters is fixed in a substantially parallel orientation relative to the longitudinal axis 1470 of the robot). The rotational plane of the wheels of the non-retractable casters 1260', 1261' can be locked and released relative to the longitudinal axis 1470 of the robot in any suitable manner. For example, the controller of the robot 110 (which may be located on or away from the robot, such as the controller 120) may be constructed to perform the casters by, for example, controlling any suitable actuator and/or locking mechanism. Locking and release of 1260', 1261'.

The robot 110 can also be provided with guide wheels 1250-1253. As best seen in Figures 3C and 3D, when the robot 110 is traveling in, for example, the picking walkway 130A and/or the transfer area 295 (Fig. 1), the movement of the robot 110 can be tracked. Or guided by a track guidance system. It should be noted that the transfer areas 295 may allow the robots 110 to access the transport shelves 730 (Figs. 5A-5F) of the plurality of upright conveyor belts 150I, 150O (generally referred to as conveyor belts 150). The track guidance system can include a track 1300 disposed on either side of the robot 110. The tracks 1300 and the guide wheels 1250-1253 can be used for high speed travel of the robot 110 without complex control and navigation control subsystems. The rails 1300 can be constructed to have a recessed portion 1300R that is shaped to receive the guide wheels 1250-1253 of the robot 110. It should be noted that the tracks may have any suitable configuration, such as without a recessed portion 1300R. The rails 1300 can be integrally formed with, for example, one or more of the horizontal and upright brackets 398, 399 of the storage rack structure 130, or otherwise One or more of the horizontal and upright brackets 398, 399 are secured to the storage rack structure 130. As can be seen in Figure 3D, the picking walkways can be substantially less floored such that the robot wheel brackets 1300S of the rails 1300 extend away from the storage area by a predetermined distance to allow for the robot The sufficient surface area of the wheels 1101-1214 (or wheels 1260', 1261' in the case of lockable casters) straddle along the rails 1300. In alternative embodiments, the picking walkways can have any suitable floor that extends between adjacent storage areas on either side of the picking walkway. In one aspect of the disclosed embodiment, the rails 1300 can include a friction member 1300F for providing traction to the drive wheels 12110, 1212 of the robot 110. The friction member 1300F can be, for example, any suitable member, such as a coating, a strip of lining as a liner, or any other suitable member that substantially creates a friction surface for interacting with the wheel of the robot 110. .

While the four guide wheels 1250-1253 are shown and described, it should be understood that the robot 110 can have any suitable number of guide wheels. The guide wheels 1250-1253 can be mounted to the frame 1200 of the robot, for example, in any suitable manner. In one example, the guide wheels 1250-1253 can be mounted to the frame 1200 via, for example, springs and dampers to provide relative movement between the guide wheels 1250-1253 and the frame 1200. The relative movement between the guide wheels 1250-1253 and the frame 1200 can be a damped movement that is constructed, for example, to buffer changes in the robot 110 and its load bearing against any direction or irregularity in the track 1300 ( For example, misaligned joints between track segments, etc.). In other examples, the guide wheels 1250- The 1253 can be securely mounted to the rack 1200. The assembly between the guide wheels 1250-1253 and the recessed portion 1300R of the track 1300 can be configured to provide stability (e.g., anti-overturn) to the robot, such as a turn and/or extension of the transfer arm 1235. During the period (for example, offsetting the overturning moment caused by any cantilever load on the transfer arm). It should be noted that the robot may be stabilized in any suitable manner during the turning and/or extension of the transfer arm 1235. For example, the robot 110 can include a suitable counterweight system for counteracting any torque caused by the extension of the transfer arm 1235 on the robot.

The transfer arm 1235 can be movably mounted to the frame 1200 within, for example, the load bearing area 1230. It should be noted that the load bearing area 1230 and the transfer arm 1235 can be sized to carry the storage and retrieval cassettes in the system 100. For example, the width W of the load bearing region 1230 and the transfer arm 1235 may be substantially the same as or greater than the depth D of the storage shelves 600 (FIG. 6B). In another example, the length L of the load bearing region 1230 and the transport arm 1235 can be substantially the same as or greater than the maximum length of the article transported by the storage and retrieval system 100, such that the length of the article is along the The longitudinal axis 1470 of the robot 110 is oriented (Fig. 3F).

Referring also to Figures 3E and 3F, the transfer arm 1235 can include an array of fingers 1235A, one or more push rods 1235B, and a fence 1235F. As can be achieved, the transfer arm can have any suitable configuration and/or components. The transfer arm 1235 can be configured to extend and retract the load bearing area 1230 for transporting loads to and from the robot 110. One of the disclosed embodiments In an aspect, the transfer arm 1235 can be constructed to operate or extend in a unilateral manner relative to the longitudinal axis 1470 of the robot (eg, extending from a side of the robot in the direction 1471) for use in adding, for example, the robot. Reliability while reducing the complexity and cost of these robots. It should be noted that where the transfer arm 1235 is only operable on one side of the robot 110, the robot can be constructed to guide itself for use with the drive end 1293 or the drive end facing the direction of travel. Any of the portions 1299 enters the picking walkway 130A and/or the transfer area 295 such that the operable side of the robot faces the desired position for placing or picking a load. In other aspects of the disclosed embodiment, the robot 110 can be constructed such that the transfer arm 1235 can be operated or extended in a unilateral manner relative to the longitudinal axis 1470 of the robot (eg, by both sides of the robot) Extended in directions 1471 and 1472).

In one example, the fingers 1235A of the transfer arm 1235 can be constructed such that the fingers 1235A can be individually extended and retracted or extended and retracted in one or more groups. For example, each finger can include a locking mechanism 1410 that selectively engages each finger 1235A to a movable member such as the frame 1200 of the robot 110 or the transfer arm 1235, such as the push rod 1235B. . The pusher 1235B (and any fingers coupled to the pusher), for example, can be driven by any suitable drive, such as extension motor 1495. The extension motor 1495 can be coupled to, for example, the push rod via any suitable transmission, such as for demonstration purposes only, the belt and pulley system 1495B (Fig. 3E).

In an example, the fingers 1235A are coupled to, for example, the push The locking mechanism of lever 1235B can be, for example, a camshaft driven by motor 1490 that is configured to cause each finger to engage/disengage with either of the pushers or frames. In other examples, the locking mechanism can include individual devices, such as electromagnetic coil latching buckles associated with corresponding ones of the fingers 1235A. It should be noted that the pusher may include a driver for moving the pusher in the direction of arrows 1471, 1472 for performing, for example, in the orientation (e.g., alignment) of the load carried by the robot 110. The change, grip, is carried by the load carried by the robot 110, or for any other suitable purpose. In one aspect of the disclosed embodiment, when one or more locking members 1410 are engaged, for example, with the push rod 1235B, the individual fingers 1235A are substantially in the direction of the arrows 1471, 1472. The movement of the rod 1235B extends and retracts together, while the locking mechanism 1410 is substantially stationary relative to the frame 1200 by fingers 1235A that engage, for example, the frame 1200.

In another aspect of the disclosed embodiment, the transfer arm 1235 can include a drive rod 1235D or another suitable drive member. The drive rod 1235D can be constructed such that it does not directly contact the load carried on the robot 110. The drive rod 1235D can be driven by a suitable actuator such that the drive rod 1235D travels relative to the push rod 1235B in the direction of the arrows 1471, 1472 in a manner substantially similar to that described above. In the exemplary embodiment, the locking mechanism 1410 can be configured to latch onto the drive bar 1235D such that the individual fingers 1235A can be extended and retracted independently of the pusher, and vice versa. . In other aspects, the push rod 1235B can include a locking mechanism that is substantially similar to the locking mechanism 1410. For selectively locking the push rod to either the drive rod 1235D or the frame 1200, where the push rod 1225B is engaged with the drive rod 1235D, the drive rod is constructed to cause the push Movement of the rod 1235B.

In one aspect of the disclosed embodiment, the pusher 1235B can be a single piece of bar that spans all of the fingers 1235A. In other aspects of the disclosed embodiment, the pusher 1235B can be a segmented bar having any suitable number of segments 1235B1, 1235B2. Each segment 1235B1, 1235B2 may correspond to a group of one or more fingers 1235A such that only the portion of the push rod 1235B corresponding to the extended/retracted finger 1235A is moved in the direction of arrows 1471, 1472. At the same time, the remaining segments of the pusher 1235B are held stationary so as to avoid movement of the load on the fixed fingers 1235A.

The fingers 1235A of the transfer arm 1235 can be spaced apart from each other by a predetermined distance such that the fingers 1235A are constructed to pass or correspond to the corresponding support legs 620L1, 620L2 of the storage shelves 600 (Fig. 3H) and The inbound conveyor belt 150A is between the corresponding support fingers 910 of the shelf 730 on the outward conveyor belt 150B. In other aspects of the disclosed embodiment, the fingers 1235A can be constructed to pass the corresponding support fingers of the robotic transfer station for transporting the robotic load to the multi-layered upright conveyor belt via the robotic transfer station. The distance between the fingers 1235A and the length of the fingers of the transfer arm 1235 allows the full length and width of the loads to be transmitted to and transmitted by the robot 110 to be supported by the transfer arm 1235. These loads.

The transfer arm 1235 can comprise any suitable lifting device 1235L It is configured to move the transfer arm 1235 in a direction substantially perpendicular to the plane of extension/retraction of the transfer arm 1235.

Referring also to FIGS. 3H-3J, in an example, by extending the finger 1235A of the transfer arm 1235 into the space 620S between the support legs 620L1, 620L2 of the storage shelf 600 and on the shelf 600 Below one or more target items 1500, the load (substantially similar to load 750-753) is obtained, for example, by storage shelf 600. The transfer arm lifter 1235L is suitably constructed to lift the transfer arm 1235 for lifting the one or more target items 1500 away from the shelf 600. The fingers 1235A are retracted such that the one or more target items are disposed over the load bearing area 1230 of the robot 110. The lifting device 1235L lowers the transfer arm 1235 so that the one or more target items are lowered into the load bearing area 1230 of the robot 110. In other examples, the storage shelves 600 can be constructed with a lift motor for raising and lowering the target items, where the transfer arm 1235 of the robot 110 does not include the lifting device 1235L. FIG. 3I illustrates an extension of three of the fingers 1235A for transmitting a load 1501. Figure 3J shows a shelf 1550 with two items or loads 1502, 1503 seated side by side. In FIG. 3J, the three fingers 1235A of the transfer arm 1235 are extended for the load 1502 to be taken only by the shelf 1550. As can be seen in Figure 3J, it should be noted that the load carried by the robots 110 can include one or more product shipments PT and/or order shipments CT (e.g., load 1502 includes two separate boxes) And the load 1503 contains three separate boxes). It should also be noted that in an exemplary embodiment, the extension of the transfer arm 1235 can be controlled For retrieving a predetermined number of items from an array of items. For example, the finger 1235A in FIG. 3J can be extended such that only the item 1502A is retrieved and the item 1502B remains on the shelf 1550. In another example, the fingers 1235A can only be partially extended into a shelf 600 (eg, less than the depth D of the shelf 600) such that it is in front of, for example, the shelf (eg, adjacent to the shelf) The first item picking the aisle is picked, and the second item behind the first item behind the shelf remains on the shelf.

As mentioned above, the robot 110 can include a retractable fence 1235F. Referring to Figures 3K-3N, the fence 1235F can be movably mounted to the frame 1200 of the robot 110 in any suitable manner such that when the loads are transferred to and from the robotic bearer region 1230 Upon loading, such loads, such as load 1600, pass through the retracted fence 1235F, as can be seen in Figure 3K. Once the load 1600 is in the load bearing area 1230, the fence 1235F can be raised or extended by any suitable drive motor 1610 such that the fence 1235F extends over the finger 1235A of the robot 110 for substantially The load 1600 is prevented from moving out of the load bearing area 1230 as can be seen in Figure 3L. The bot 110 can be constructed to grasp the load 1600 to lock the load, such as during shipping. For example, the pusher 1235B can be moved toward the fence 1235F in the direction of arrow 1620 such that the load 1600 is caught or grasped between the push rod 1235B and the fence 1235F, as can be seen in Figures 3M and 3N. By. If implemented, the bot 110 can include a suitable sensor for detecting a fader 1235B and/or Flange 1235F exerts a pressure on the load 1600 to prevent damage to the load 1600. In an alternate embodiment, the load 1600 can be grasped by the robot 110 in any suitable manner.

Referring to Figures 3F and 3G, the robot 110 can include a roller bed 1235RB disposed in the load bearing area 1230. The roller bed 1235RB can include one or more rollers 1235R disposed across a longitudinal axis 1470 of the robot 110. The rollers 1235R can be disposed in the carrying area 1230 such that the rollers 1235R and the fingers 1235A are alternately seated such that the fingers 1235A can pass between the rollers 1235R for transporting items to The load bearing area 1230 and the articles are transported by the load bearing area 1230, as described above. One or more push rods 1235P can be disposed in the load bearing region 1230 such that the contact members of the one or more push rods 1235P extend and retract in a direction substantially perpendicular to the axis of rotation of the rollers 1235R. The one or more push rods 1235P can be configured to push the load back and forth along the rollers 1235R in the direction of the arrow 1266 (eg, substantially parallel to the longitudinal axis 1470 of the robot 110) within the load bearing region 1230. 1600 for longitudinally adjusting the position of the load 1600 within the load bearing area 1230. In other aspects of the disclosed embodiment, the rollers 1235R can be drive rollers such that the controller of the robot drives the rollers for moving the load 1600 such that the load is positioned within the load bearing area 1230 a predetermined location. In still other aspects of the disclosed embodiments, the load can be moved to a predetermined location within the load bearing area in any suitable manner. The longitudinal adjustment of the load 1600 within the load bearing area 1230 may allow for the positioning of the loads 1600 for transmission by the load bearing area. The load is, for example, a storage location or another suitable location, such as the multi-layered upright conveyor belts 150I, 150O.

It should be noted that the robots 110 can be constructed to communicate with other robots 110 in the storage system 12 to form a point-to-point collision avoidance system such that the robots can travel throughout the storage system 12 at a predetermined distance from each other in a manner, This approach is substantially similar to that described in U.S. Patent Application Serial No. 12/757,337, the entire disclosure of which is incorporated herein by reference in its entirety in its entirety herein in It should also be noted that the description of the robot 110 herein is merely exemplary and that the robot or transport vehicle may have any suitable configuration for transporting loads between the storage locations and the conveyor belts 150I, 150O.

Referring to Figures 5A-5F, the conveyor belts 150I, 150O will be described in greater detail. It should be noted that the input multi-layer upright conveyor belt 150I and associated transfer station 170I may be substantially similar to the discharge multi-layer upright conveyor belt 150O and associated discharge transfer station 170O, but for the flow of the material. To the storage system 12 / in the direction in which the material flows through the storage system 12. As can be accomplished, the warehousing system 12 can include a plurality of feed and discharge multiple layers of upright conveyor belts 150I, 150O that can be accessed by, for example, a robot 110 on each level of the warehousing system 12 Station 295) such that one or more product shipments PT or order shipments CT can be transported by the plurality of upright conveyor belts 150I, 150O to each of the storage spaces on the individual layers and from each storage space to the individual layers. Any of the multi-layered upright conveyor belts 1501, 150O. The robots 110 can be constructed to pick and drop between the storage spaces and the plurality of upright conveyor belts. The product shipment PT and the order shipment CT are sent (eg, substantially directly between the storage spaces and the plurality of upright conveyor belts). By way of further example, the marked robot 110 picks up the product shipment PT and the order shipment CT from a shelf of multiple layers of upright conveyor belts, transports the product shipment PT and the order shipment CT to the storage structure 130. The storage area is predetermined and the product shipment PT and the order shipment CT are placed in the predetermined storage area (and vice versa). It should be noted that the product shipment PT and the order shipment CT may be stored in the storage system 12 in substantially random locations such that each of the product shipment PT and the order shipment CT is accessed. Most of the paths of one.

Roughly, the multi-layered upright conveyor belts include load-bearing shelves 730 (Figs. 5A-5F) attached to a chain or belt that form an upright loop that continuously moves or circulates (shown in the figures) The shape of the loop is for illustrative purposes only, and it should be understood that the loop may have any suitable shape including a rectangle and a spiral) that moves at a substantially constant rate such that the use of the shelves 730 may be referred to as The principle of continuous delivery of the "chain bucket elevator" allows loading and unloading at any point in the loop without slowing down or stopping. The multi-layered upright conveyor belts 150I, 150O can be controlled, for example, by a server, such as controller 120, or any other suitable controller. One or more suitable workstations 700 can be coupled to the multi-layered upright conveyor belts 150I, 150O and the controller 120 in any suitable manner (e.g., wired or wirelessly) for providing inventory management, multiple layers as an example Upright conveyor belt functionality and control, and customer order fulfillment. If implemented, the workstations 700 and/or controllers 120 can be programmed to Control the feed and/or discharge conveyor systems. In one aspect of the disclosed embodiment, one or more of the workstations 700 and controllers 120 can include a control cabinet, a programmable logic controller, and a plurality of vertical conveyor belts 150I, 150O for driving the plurality of vertical conveyor belts 150I, 150O. Variable frequency drive. In other aspects of the disclosed embodiments, the workstations 700 and/or controllers 120 can have any suitable components and configurations.

The multi-layered upright conveyor belt 150 can include a frame 710 that is constructed to support a transmission member, such as a chain 720. The chains 720 can be coupled to the shelves 730 that are movably mounted to the frame 710 such that the chains 720 substantially perform the continuity of the shelves 730 around the frame 710 The movement. In alternative embodiments, for example, any suitable drive link, such as a belt or cable, can be used to drive the shelves 730. The shelves may include a platform 900, which may include, for example, any suitably shaped frame 911, which in this example is generally U-shaped (eg, having a span member at one end) Connected lateral side members), and any suitable number of spaced apart fingers 910 extending from the frame 911. The fingers 910 can be constructed to support the product shipment PT and the order shipment CT. In one example, each of the fingers 910 can be removably secured to the frame 911 to facilitate replacement or repair of the individual fingers 910. The fingers 910 and the frame 911 can form an integral structure or platform defining the seating surface that contacts and supports the product shipment PT and the order shipment CT. It should be noted that the shelf 730 is merely illustrative of a representative structure, and in other aspects of the disclosed embodiment, the shelves 730 can have any suitable configuration and size for shipping product shipments. PT and order shipment CT. The spaced apart fingers 910 are configured to interface with transfer arms or actuators of the robots 110 and the feed transfer stations 170 for use in the plurality of upright conveyor belts 150 and the transfer stations 170 The product shipment PT and the order shipment CT are transferred between one or more of the robots 110.

The multi-layered upright conveyor belts 150 may also, for example, comprise suitable stabilizing means, such as a drive stabilizing chain for stabilizing the shelvings 730 during upright travel. In one example, the stabilizing devices can include a chain drive retractor that engages the shelves in both the up and down directions to form a three-point engagement with the shelf 730. The drive chain 720 for the shelves 730 and stabilizing devices can be drivingly coupled to, for example, any suitable number of drive motors, such as under the control of one or more of the workstations 700 and controllers 120.

In an exemplary embodiment, there may be any suitable number of shelves 730 that are mounted and attached to the drive chains 720. As can be seen in Figure 5B, for exemplary purposes only, each shelf 730 can be constructed to carry in any suitable number of product shipments PT and order shipments CT, such as the shelf 730. The upper positions A, C (e.g., a single upright conveyor belt are functionally equivalent to a plurality of conveyor belts that are individually operated adjacent to each other).

As can be achieved, each of the plurality of upright conveyor belts 150 can be in indeterminately coupled to each storage location of the storage shelves 600 (e.g., each conveyor belt is common to all storage shelves). For example, as described above, the robot 110 on each layer of the storage system 12 can be along the individual layers. The transport platform 130B and the picking walkway 130A travel such that each robot 110 has access to any of the plurality of multi-layer upright conveyor belts 150 and the storage space of the storage rack 600 on the individual layers (eg, each A robotic system is used for all storage locations and conveyor belts 150). As noted above, the robots are capable of taking most of the path to any given storage location such that if one path is substantially blocked, there is another path available to reach the storage location, or to another storage location. A path is available and holds a desired product shipment PT or order shipment CT that is substantially the same as the product shipment PT or order shipment CT located in the blocked walkway. Because of the plurality of paths and random storage locations (e.g., at least random or spaced locations in which the product shipments of the same item are stored), the robots 110 allow each of the plurality of upright conveyor belts 150 Indefinitely in communication with each storage location within the warehousing system 12.

In operation, also referring to Figures 5C-5F, the product shipment PT and/or the order shipment CT (e.g., from the workstation 24) transferred into the storage area 130 of the storage system 12 are loaded onto the multi-layer upright conveyor 150I. And will be cycled around the multi-layered upright conveyor belt 150I and removed by an individual conveyor belt by, for example, one or more robots 110 for placement in the storage area of the storage structure (Fig. 5G, block 8000 and 8010). As will be further described below, in the exemplary embodiments, the input loading program on the multi-layered upright conveyor belts 150I, 150O (e.g., such as the corresponding feeder input at the transfer station 170I) The robotic transfer position on the side and individual storage layers) can be substantially equivalent to the multi-layered upright conveyor belt The output or unloading sequence of 150I, 150O is independent (e.g., such as at the corresponding output side of the transfer station 170O and the robot transfer position on the individual storage layers), and vice versa. In one example, the product shipment PT and/or the order shipment CT can be loaded onto the shelves 730 during upward travel of the multi-layer upright conveyor belt 150, and in the multi-layer upright conveyor belt 150 These shelves 730 are unloaded during the downward travel. As an example, the multi-layer upright conveyor shelves 730i and 730ii (Fig. 5D) can be loaded continuously, but when unloaded, the shelves 730ii can be unloaded prior to the shelves 730i. As can be achieved, the multi-layered upright conveyor belts can be referred to as sorters, capable of sorting into containers of the multi-layer upright conveyor belt (such as being transported from the storage rack position by the robot 110), The classification of containers for multi-layered upright conveyor belts is different and vice versa. It should be noted that the shelves 730 can be loaded through one or more cycles of the multi-layered upright conveyor belt. In other examples, the product shipment PT and/or the order shipment CT (generally referred to as reference numeral 1500 in the drawings) may be loaded into the shelf 730 in any suitable manner or by the The shelf 730 is unloaded. As can be achieved, the location of the bin units on the multi-layer upright conveyor shelving 730 defines the location at which the robot 110 is picked. The robot can be constructed to pick any suitable product shipment PT and/or order shipment CT from the shelf 730 regardless of the location on the shelf 730 or the product shipment PT and/or the order shipment CT The size. In one aspect of the disclosed embodiment, the warehousing system 12 can include a robotic positioning system for positioning the robot adjacent to the shelves 730 for picking up a predetermined shelf from the shelves 730 The desired shipment (for example, the robot 110 is positioned to Aligned with the product shipment PT and/or the order shipment CT). The robotic positioning system can also be constructed such that the extension of the robotic transfer arm is related to the movement (e.g., rate and position) of the shelves 730 such that the transfer arms are extended and retracted by the plurality of layers The predetermined shelf 730 of the upright conveyor belts 150I, 150O removes (or places) the product shipment PT and/or the order shipment CT. For exemplary purposes only, the bot 110 may be instructed by, for example, the workstation 700 or controller 120 (Fig. 5A) to extend the travel of the transport arm into the product shipment PT and/or the order shipment CT. The path. When the product shipment PT and/or the order shipment CT are carried by the multi-layer upright conveyor belt 150I in the direction of arrow 860, the finger of the robot, the transfer arm passes the index of the shelf 730 Port 910 for transporting the product shipment PT and/or the order shipment CT from the shelf 730 to the machine system 1135 (eg, the product shipment PT and/or the order shipment CT from the fingers) 910 is lifted by the relative movement of the shelf 730 and the robotic transfer arm). If achievable, the pitch P between the shelves can be any suitable distance for allowing the delivery of the product shipment PT and/or the order shipment CT between the multi-layer upright conveyor belt and the robots 110, The shelves 730 are cycled around the plurality of upright conveyor belts at a substantially continuous rate. The robotic transfer arm can be retracted in any suitable manner such that the product shipment PT and/or the order shipment CT are no longer in the travel path of the shelf 730 of the inbound conveyor belt 150A. The machine system 1130 can be fully retracted, as shown in FIG. 3N, for transferring the product shipment PT and/or the order shipment CT to the robot 110.

It should be noted that the multi-layered upright conveyor belts 150O (and the conveyor belts 150I) are constructed to allow the shipments, containers and/or box units to be continuously swung around the conveyor belt loops such that the box units It can be moved to, for example, the delivery transfer station 170O (or the feed transfer station 170I) at any suitable time for fulfilling an order. For example, the first shipment is placed on the first shelf of the multi-layered upright conveyor belt 150O, and the second shipment is placed on the second shelf of the multi-layered upright conveyor belt 150O, where the multi-layer upright conveyor In the sequence of shelves 150O, the first shelf is located in front of the second shelf and the second shipment is provided to the discharge transfer station 170O prior to the first shipment. The first shelf (holding the first shipment) can be allowed to pass through the discharge transfer station without unloading the first shipment to allow the second shipment to be removed by the second shelf. As such, the shipments can be placed on the shelves of the multi-layered upright conveyor belt 150O in any order. The discharge transfer station 170O removes the shipment from the desired shelf of the multi-layer upright conveyor belt at the desired time (as described herein) such that the individual shipments are shipped in a predetermined order To the output rack (or other suitable shipping rack like container) for delivery to the customer.

Referring to Figures 5D and 5F, for transporting the product shipment PT and/or the order shipment CT in the outward direction (e.g., by or leaving the storage and retrieval system mobile product shipment PT and/or the order shipment CT 1500 The robots 110 pick one or more product shipments PT and/or order shipments CT 1150 from the individual predetermined storage areas of the storage structure (Fig. 5G, block 8020). If so achievable, the product shipments PT are picked up by the storage area 130 based on, for example, an order to be supplied. For example, the controller 120 can The order to be supplied notifies one or more robots and instructs the robots to pick a predetermined product shipment for supplying the order. In one aspect, the product shipments can be picked up in a batch, such as being picked substantially simultaneously or forwardly and in a predetermined sequence on a conveyor belt 150O. The product shipment PT and/or the order shipment CT may be extended into the multi-layer vertical conveyor 150O by the transfer arm of the robot 110 through the extension of the robot transfer arm relative to the frame of the robot 110. The path of the shelf 730 (which is substantially similar to the conveyor belt 150I). It should be noted that the product shipment PT and/or the order shipment CT 1150 can be placed on the multi-layer upright conveyor belt 150O in a first predetermined order (Fig. 5G, block 8030). The first predetermined order can be any suitable order. The substantially continuous rate of movement of the shelves 730 in the direction of arrow 870 causes the fingers 910 of the shelf 730 to transmit the fingers of the arms through the robot such that movement of the shelves 730 is performed by the robot The picking position of the arm raises the picking position 1150. The picking location 1150 travels around the multi-layer upright conveyor belt 150O to a discharge transfer station 170O (which is substantially similar to the feed transfer station 170I) where it is removed from the shelf 730 in any suitable manner. , such as through a suitable conveyor system. The product shipment PT and/or the order shipment CT may be removed from the multi-layer upright conveyor 150O in a second predetermined order by, for example, the discharge station 170O, the second predetermined order may be It is different and independent from the order of the first predetermined order (Fig. 5G, block 8040). The second predetermined order of order may be determined, for example, by any suitable factor, such as the product requiring the item to be packaged for shipment, or the product shipment PT and/or the order shipment CT Orders shipped to the modules 20. It should be noted that the individual delivery of the multi-layer upright conveyor belts 150I, 150O and the product shipment PT and/or the order shipment CT between the feed and discharge transfer stations 170I, 170O can occur in any suitable manner.

It should be noted that, for any suitable purpose, in addition to order fulfillment, the controller 120 can be constructed to indicate that the product shipment PT and/or the order shipment CT are removed by the storage system 12. For example, in the exemplary embodiments, in the warehousing system 12, the distribution (e.g., classification) of the containers, the product shipments PT, and the order shipments CT are such that the containers can be in any suitable order at any The desired rate is provided for shipment to a module 20 using any desired sort order. When the order is fulfilled, the controller 120 can also be constructed to incorporate, for example, a store plan rule such that the product shipment PT and/or the order shipment CT are provided by the robots 110 in a first predetermined sequence. Up to a plurality of individual upright conveyor belts 150O (eg, the first classification of the box units), and then removed from the individual plurality of upright conveyor belts 150O in a second predetermined sequence (eg, the second classification of the box units) So that items from the product shipment PT can be placed in the order shipment CT, or the order shipment CT can be placed on a gantry or other suitable shipping container/device in a predetermined order (eg See Figure 5G above). For example, in the first category of product shipment PT and/or order shipment CT, the robots 110 may pick individual product shipments PT and/or order shipments CT in any order. When the product shipment PT and/or the order shipment CT are to be transported to a predetermined multi-layer upright conveyor belt 150O, the robots 110 may traverse the picks A walkway and a transfer platform having the picked product shipment PT and/or the order shipment CT (eg, looping around the transfer platform) for a predetermined period of time. In the second classification of the containers, once the containers are attached to the multi-layer upright conveyor 150O, when the product shipment PT and/or the order shipment CT are to be transported to the discharge transfer station 170O, such A container, such as the product shipment PT and/or the order shipment CT, can be cycled around the conveyor belt for a predetermined period of time. It should be noted that the order to be shipped to the containers of the modules 20 may correspond to, for example, any suitable packaging rules. The rules may be incorporated into, for example, a walkway plan in the customer's store, or a family group of items corresponding to, for example, a particular location in the store, or a type of item in which the order shipment CT will be The special location was unloaded. The order for the product shipment PT and/or the order shipment CT to be shipped to the modules 20 may, for example, correspond to characteristics of the products, such as the size of the product shipment PT and/or the order shipment CT, Weight and durability. For example, a container having a crushable item therein can be shipped to the module for placement in an order shipment CT after a heavier, more durable item is shipped to the module 20.

The controller 120 in combination with the structural/mechanical architecture of the storage and retrieval system is capable of maximizing load balancing. As described herein, the storage space/storage location is decoupled from the product shipment PT and/or the order shipment CT through the storage system 12. For example, the storage capacity (eg, product shipment PT and/or distribution of the order shipment CT in storage) is independent and does not affect the product shipment PT and/or the order shipment CT through the storage system 12 Production. The storage array space can be It is substantially evenly distributed with respect to the output. With the multi-layer upright conveyor belt 150O, the horizontal classification (eg, for each storage layer, the first robot 110 can traverse the delivery platform 130B for any suitable amount of time, if in the container of the first robot 110 Previously, other robotic containers were shipped to the multi-layered upright conveyor belt, such as allowing individual robots to pick individual containers of the order and transporting those containers to the multi-layer upright conveyor belt 150O) and the high speed robot 110 and the upright classification was substantially established A storage array space is substantially uniformly distributed by the storage array (e.g., the discharge station 170O of the plurality of upright conveyor belts 150O) relative to an output location. The substantially evenly distributed array of storage spaces also allows product shipments PT and/or order shipments CT to be output from each of the discharge delivery stations 170O at a substantially constant rate as desired, such that the product shipments The PT and/or order shipment CT is provided in any desired order. Based on the geographic location of the storage spaces (which will result in a virtual partitioning of the storage spaces), to perform the maximum load balancing, relative to the plurality of upright conveyor belts 150O (eg, to the nearest storage space of the multi-layer upright conveyor belt) Not configured to move the box from the multi-layer upright conveyor belt/moving the box to the multi-layer upright conveyor belt, the control structure of the controller 120 may be such that the controller 120 does not cause the storage structure (eg, the storage The storage space within the array is associated with the multi-layer upright conveyor belt 150O. Conversely, the controller 120 can evenly map the storage spaces to each of the plurality of upright conveyor belts 150O, and then select the robot 110, the storage location, and the output multi-layer upright conveyor belt 150O shelf configuration so as to be substantially predetermined Constant rate in the desired order, the container from any position in the storage structure What do you want for a multi-layered upright conveyor output (for example, at these discharge conveyors) for the supply of order shipments CT and customer orders.

It should be noted that the controller 120 can be constructed to be compatible with the robot 110, the multi-layer upright conveyor belts 150I, 150O, the feed or discharge transfer stations 170I, 170O, and other suitable storage systems 12 in any suitable manner. Parts/components are connected. Each of the robots 110, the multi-layered upright conveyor belts 150I, 150O, and the transfer stations 170I, 170O can have individual controllers that are in communication with the controller 120 for transport and/or reception, such as individual The operational status, location (in the case of such robots 110), or any other suitable information. The control server can record the sent information by the robot 110, the multi-layer upright conveyor belts 150I, 150O, and the transfer stations 170I, 170O for use in, for example, planning order fulfillment or supplemental work.

As can be implemented, any suitable controller, such as controller 120, such as the storage and retrieval system can be constructed to establish any suitable number of alternate paths for limiting or blocking the path provided to those containers. At the time of the break, one or more products or order shipments are retrieved from their individual storage locations. For example, the controller 120 can include suitable programming, memory, and another structure for analyzing information sent by the robot 110, the plurality of vertical conveyors 150I, 150O, and the transmitting stations 170I, 170O. A primary or preferred route for planning a robot 110 to a predetermined item within the storage structure. The preferred route may be the fastest and/or most direct route, and the robot 110 can retrieve the item. In other examples, the preferred route can be any suitable route. The controller 120 can also be constructed The information sent by the robots 110, the multi-layered upright conveyor belts 150I, 150O, and the transfer stations 170I, 170O is used to determine if there are any obstacles along the preferred route. If there is an obstruction along the preferred route, the control server can determine one or more second or alternative routes for retrieving the containers such that the obstruction is avoided and the containers can be retrieved, and There is no substantial delay in fulfilling orders, for example. It should be realized that the robotic route plan can also occur on the robot 110 itself by any suitable controller system, such as the control system 1220 on the robot 110 (Fig. 3A). As an example, the robot control system 1220 can be configured to communicate with the controller 120 for accessing information from other robots 110, the multi-layered upright conveyor belts 150I, 150O, and the transfer stations 170I, 170O. Used to determine the preferred and/or alternative route for accessing an item in a manner substantially similar to that described above. It should be noted that the robotic control system 1220 can include any suitable programming, memory, and/or another structure to perform the preferred and/or alternative routing decisions.

Referring to Figure 1, the warehousing system 12 is coupled or otherwise coupled to the replenishment and order fulfillment system 20 (which may be located within the facility, as shown). Accordingly, the warehousing system 12 and the replenishment and order fulfillment system 20 are substantially integrated so as to be operatively coupled to the warehousing system 12 and the replenishment and order fulfillment system 20 by the replenishment and order fulfillment system. And a control system (not shown) in communication with the warehousing system 12 and the replenishment and order fulfillment system 20, by means of the warehousing system 12 (product box or shipment and order shipment) and replenishment and order fulfillment processes or logistics Execution Both the warehouse storage configuration and the retrieval process or logistics of the box and the shipment can be processed and controlled. If implemented, the controller 120 initiates a suitable command agreement in response to a suitable programming and selection of a desired order for fulfillment from a store or customer (the order, having one or more order lines). Causing the storage system to retrieve a desired product box or shipment and transfer it to the replenishment system 20. The controller 120 can then operate the replenishment system 20 such that the desired container corresponding to the order line is picked up by the product box/shipment PT and placed in the order shipment CT corresponding to the store/customer order. The controller 120 and supplemental system 20 are configured for optimal picking and delivery by the product box/shipment PT to the order shipment CT execution unit, as will be further described below. The order of order fulfillment performed by the supplemental system 20 and the controller 120 (eg, the order in which the order shipments are supplied), and thus the order of retrieval of the warehousing system fed to the supplemental system, may be detached from the order of the shipment load (also That is, the order shipments are loaded, for example, onto the gantry and/or truck for shipment by the facility). The supplied order shipment CT can be shipped and stored via the storage system 12 in a storage location that is waiting to be retrieved according to the shipment load order (eg, distributed in a product box/shipment, or in a quarantined location) ) Storage. The order fulfillment order can be configured such that a product shipment PT can supply a majority of the order shipment CT in the supplemental system, as will be described in more detail below. As such, each of them may have a different order line, but has a majority of the order shipments of the shared order items (all indicating the shared item of goods) (ie, each of the order shipments may correspond to a different store) , may be one (or more) product boxes containing the (and other) desired goods unit / The goods are supplied. If achievable, this provides the maximum simultaneous occurrence between the product shipment PT and the order shipment CT, and thus minimizes picking and retrieval by the warehousing system 12, and for passing through the warehousing The given or minimum flow of the shipment/box of the system and supplemental system trunks maximizes production (order fulfillment).

Referring to Figures 6 and 6A, there is shown a schematic perspective view of a module that may be referred to as the supplemental system 20, wherein the segments are substantially integrated to operate as a unit. For example, referring also to Figure 1, the facility is shown with a number of modules 20 (for demonstration purposes, five modules are shown), although in alternative embodiments the facility may have any suitable number (one or more) )). From the perspective of the segment being coupled to the input and output locations of the storage system (eg, the input and output MVC's 150, see also FIG. 5-5F), the segment 20 of the supplemental system is also Can be considered as a module. For purposes of narration, the supplemental module 20 can be constructed to form what can be referred to as an order fulfillment unit 22. Each order fulfillment unit 22 can have one or more (e.g., two displayed) order fulfillment stations 24A, 24B. The order fulfillment unit 22 is configured to facilitate picking by one (or more) product containers or shipments PT of the supplemental module 20 to one or more of the order containers or shipments in the supplemental module take. In other words, the product shipment PT can remain in the supplemental module 20 until all of the order shipments CT at the fulfillment station 24 that will receive the merchandise unit from the product shipment (at that time) have received the ordered unit. (At that time, the product shipment is returned to the storage system) or until the product shipment is empty (when the product shipments are delivered for supply by the shared goods unit). The module and the unit of the unit are exemplary And may have any suitable configuration in alternative embodiments.

As mentioned previously, the module 20 can be coupled to the storage system by feed and discharge stations such as MVC's 150I, 150O. For example, a feed and a discharge station are displayed, but a module may have one or more feeds and one or more discharge stations. An MVC'S 150 is also displayed, for example, in each of the feed and discharge stations, and in alternative embodiments, the feed and discharge stations may be in each of the feed 150I and the discharge 150O sections. One or more MVC's (and/or other suitable lifters). Each unit 22 can include, for example, a product shipment/cassette conveyor belt 32 (all other suitable shipping devices), see Figure 7A; order shipment conveyor belt 34, see Figure 7C, (for convenience, the conveyor belt one The term is used herein to mean a transport device in the module, and it should be understood that the transport device may be of any suitable type and configuration not limited to a conveyor belt; an empty product shipment conveyor belt 36, see 7D; the supplemental product shipment is introduced into the conveyor belt 38, see Figure 7E; and the order segment conveyor belt 40, see also Figure 7F.

In the exemplary embodiment, the product shipment conveyor 32 can be a closed loop having a shipping product shipment PT and/or a partial supply of an order shipment CT from the storage area 130 (by the input station MVC 150I) Feed) the role of the workstation to the supplementary units. It should be noted that the product shipment conveyor belt 32 of each module 20 can be coupled to each of the upright conveyor belts 150O in any suitable manner, such as with a suitable conveyor path, such that the product shipment can be Any of the workstations transferred to the modules 20 by any of the conveyor belts 150 (e.g., each conveyor belt 150O is common to all of the modules 20 and workstations 24). for example, The transfer station 170O can connect the conveyor belt 32 to a separate multi-layer upright conveyor belt 150O for transporting the product shipment PT from the storage area 130 to the conveyor belt 32. If implemented, the conveyor belt 32 can also be coupled to the conveyor belt 13 in any suitable manner for substantially directly transporting the product shipment PT from the storage and retrieval system 100 to the conveyor belt 32 without The product shipments PT enter the storage area 130. Here, the conveyor belt 32 can also be in communication with each workstation 24A, 24B of each supplemental unit 22. Accordingly, if desired, a product shipment can be moved to one or more of each of the supplemental workstations until the fulfillment station 24 that will receive the shipment unit from the shipment of the product (at that time) All order shipments CT have taken over the unit ordered (at which time the product shipment is returned to the storage system) or until the product shipment is empty (when the product shipment is sent for sharing) When the goods unit is supplied). As can be seen in Figure 7A, the conveyor belt 32 is formed, for example, as a transport loop L1-L3 that is configured to allow the product shipments PT to travel substantially continuously around the conveyor belt 32 for sorting and transporting the The product shipment PT is sent to each of the workstations 24A, 24B. As can be accomplished, the conveyor belt 32 can have stations 32A, 32B corresponding to the workstations 24A, 24B where the product shipment can be stopped for picking up by the operator at the workstation. The stations 32A, 32B can have any suitable configuration to minimize operator movement when the order shipment CT is supplied. For example, the stations 32A, 32B may have a curved or angled configuration to bias the conveyor belt in the direction in which the operator enters and exits (eg, the right side of the station may be toward the operator or away from the operation). The angle is at an angle, and the left side of the stations can be towards or away from The operator is at an angle where the angle formed by the left and right sides of the station or the tip of the curve is tied to the operator's position, and substantially at the center of the station. Suitable bumpers and interfaces can be included to enable product shipments to be stopped at the desired stations 32A, 32B while other portions of the conveyor belt continue to move product shipments along the conveyor belt. If implemented, the loops L1-L3 can be constructed to allow, for example, improper shipment of product shipments to travel around the loops such that the improperly placed product shipments are placed in the desired order, Used to supply order shipments without substantially disrupting the process of shipping product shipments to such workstations. One or more of the arrays 32Q may also be part of the conveyor belt 32, such as between the workstations 24 and/or between the workstations 24 and the conveyor belts 150I, 150O, such that shipment The items can be transported to the array 32Q and released to the workstations at the appropriate time for further sorting of the shipment. It should be noted that the arrays 32Q can be located on any suitable portion of the conveyor belt 32. As seen in Figure 7A, in one aspect of the disclosed embodiment, the conveyor belt 32 can have an output to the (etc.) output station MVC(s) 150O. A further output 32O can be provided to send an empty product shipment to the empty product shipment return conveyor 36 (see also Figure 7D) for return to the product shipment supply station (not shown) in the facility . Suitable automated gates or fences or other directional devices (under the control of, for example, controller 120) may be provided for directing the shipments along predetermined routes on different portions of conveyor belt 32.

In one aspect of the disclosed embodiment, the order shipment or order conveyor belt 34 is configured to complement each of the workstations 24A of the module 20, The 243 is connected and can transport the order shipment CT to the empty station. It should be noted that the order conveyor belt 34 can have one or more arrays 34Q located in any suitable portion of the conveyor belt 34 for temporary storage relative to the queue 32Q in a manner substantially similar to that described above. Order shipment. As best seen in Figures 6, 6A and 7C, the order conveyor belt 34 is in communication with both sides of each workstation (e.g., left and right) and has stations 34SI on the left and right sides of each workstation, respectively. 34SO (which will be described in more detail below), where the order shipment CT is stopped for supply. As can be achieved, the order conveyor belt 34 can have a loop configuration similar to that described with respect to the conveyor belt 32 such that any improperly ordered order shipment can travel substantially around the one or more The loops, without interrupting the flow of the order shipment on the conveyor belt 34, such that the improperly ordered order shipments are placed in the appropriate location or sequence for supply as such workstations 24. In one aspect of the disclosed embodiment, the product conveyor belt 32 and the order conveyor belt 34 can be biased upright (at least at the workstation), as shown in Figures 7-7C, such that the product conveyor belt 32 extends over It can be referred to as the front of the workstation, and the order conveyor belt 34 extends along the left and right sides of the workstation. As can be achieved, the order conveyor belt 34 includes an input 34I that, in one aspect, is coupled to the multi-layer upright conveyor belt 150O via a transfer station 170O such that if additional items are on the order shipment CT The initial supply is then added to the order shipment CT, and the order shipment CT can be passed back from the storage area 130 to the workstations 24A, 24B. In another aspect, the input 34I can also be coupled to an order shipment supply area (not shown) in any suitable manner for An empty order shipment is supplied to the workstations 24A, 24B. The conveyor belt 34 can have an output 34O that directs the supplied shipment CT, such as the conveyor belt 150I, through the transfer station 170I for introduction of the storage area 130. The output 34O can be coupled to each of the conveyor belts 150I in any suitable manner, such as through a suitable conveyor path such that the order shipment CT output by each module 20 can use the conveyor belt 150I Either one of the storage zones 130 is introduced (e.g., each conveyor belt 150I is commonly used for each module 20 and workstation 24). If achievable, the output 34O can also be coupled to, for example, an order staging conveyor 40 for substantially directly transferring the supplied order shipment CT to a staging area for placing the supplied order shipment CT is shipped to the customer. Suitable automated gates or fences or other directional devices (under, for example, the control of controller 120) may be provided for directing the order shipments along predetermined routes on different portions of conveyor belt 34.

Referring also to Figures 8A-8C and 7D, an individual schematic view of the front, back, and partial back of a representative workstation 24A is shown. The workstations 24 can be disposed opposite each other in each of the loops L1-L3 of the module 20 (Fig. 7D). For example, as can be seen in Figure 7D, using loop L3 as an example, the conveyor belt 32 can have first and second longitudinal conveyor belt portions 32L1, 32L2. Cross or lateral side conveyor belt portions, such as portions 32C1, 32C2, may extend between the longitudinal portions 32L1, 32L2 to form, for example, loop L3. Stations 32A, 32B are located on individual portions of these intersecting conveyor sections 32C1, 32C2. An entry and exit path AP is provided for each of the pair of workstations 24A, 24B and is constructed such that the path AP allows The operator enters one of the opposing workstations 24A, 24B. The workstations can be similar, and as can be implemented, the workstations are configured substantially symmetrically such that the operator can both pick and supply orders with both hands, such as substantially both left and right hands. Each workstation can be constructed to be responsible for the operator's bias and includes the biased features for performing the supply of the order shipment, as will be described below.

In one aspect, the current order shipment CTAI, CTAO is ergonomically positioned on the left and right hand sides (I, O) of the operator to be supplied, such as by controller 120 or any other suitable means. As noted above, the buffered order shipment can also be ergonomically positioned on the side of the operator for opportunistic picking or order fulfillment. (Figure 12, block 2200). As an example of opportunistic picking, if there is an order shipment (eg, current and/or buffered) that requires the same item from the product shipment, the controller 120 can be constructed, for example, to create one or more product shipments. The PT is retrieved and the retrieved product shipment PT is directed to stations 32A, 32B in the individual index locations, as will be described below. (Figure 12, block 2210). The controller 120 can also be configured to give the operator a customary or directional indication (e.g., in an audible or visual indication substantially similar to that described below) to use the user's hands to advance the predetermined number. The item is placed in the current order shipment CTAI, CTAO (Fig. 12, block 2220) (eg, the left hand moves the item from the container on the left side of the operator and moves the item to the container, and the right hand is by the operator's right hand The container on the side moves the item and moves the item to the container on the operator's right hand side (Fig. 12, block 2230). Once the items are delivered to the current order The individual order shipment controller 120 will provide the operator with another customary indication (e.g., audible or visual in a manner substantially similar to that described below) to deliver a predetermined quantity of items to the One or more of the buffered order shipments (eg, a majority of the order is supplied by a product shipment such that the item is taken from the product shipment and delivered to the current product shipment and one or more buffered product shipments Both, while the product shipment remains at the workstation). (Figure 12, blocks 2240 and 2250). Once the items are delivered from the product shipment to each of the current and buffered shipments, the controller 120 is constructed to cause the product shipments to be removed from the workstation so that the new product shipment arrives These current product shipment stations LH, RH. (Figure 12, block 2260). As can be seen in Figures 8A-8C, the current order shipments CTAI, CTAO are displayed at an angle towards the operator, but it should be understood that the current order shipments CTAI, CTAO are relative to the operator Have any suitable spatial relationship. A swivel or another suitable transport system AL can be provided to move one or more order shipments between the current (supply) and buffer locations (e.g., arranged at the conveyor station 34SI, 34IO) at the workstation. For example, the transport system AL can be configured to lift the one or more order shipments from the conveyor belt 34 to an ergonomic level, and then tilt the one or more order shipments to allow for minimal items. Operator movements are transferred from the product shipments to the order shipments. If so achievable, some of the buffered shipments can be lifted by the elevator AL to a location for supply such that the cushioned shipments can be opportunistically supplied, as described above. As mentioned previously, each order shipment can correspond to a unique store order, and thus The current order shipment CTAI, CTAO on the operator's side I, O, respectively, may have different order validity periods (and thus may be supplied by different product shipments).

In one aspect of the disclosed embodiment, the controller 120 can be programmed such that when the current platform of the workstation is implemented, the product shipment PT awaiting to a workstation and the current order shipment located at the station The CTAI, CTAO, and the relative sides or positions of the CTAI, CTAO of the order shipments are interrelated (eg, deterministic order fulfillment or picking, where only the current order shipments CTAI, CTAO are shipped from these active products) One of the objects PTAI and PTAO receives the item). It should be noted that the order shipments may be located at the workstations in the order corresponding to the customer order or in any other suitable order. (Figure 13, block 2300). Referring to Figures 9A and 9B, as an example, product shipments buffered at the workstation (see Figure 9A) (see, for example, shipments PTIB, PTOB in Figure 9B) are arranged in an order, such as in an alternate PTI, PTO sequence. Lines corresponding to individual current (and buffered) order shipments CTAI, CTAO on individual sides I, O of the workstation. For example, the product shipments may be supplied to the workstation 24 in pairs (eg, a product shipment PT will be accessed by the operator's left hand and a product shipment will be accessed by the operator's right hand). ), where each product shipment contains only one SKU or product type. (Figure 13, block 2310). The product conveyor belt 32 can be constructed (e.g., via commands from the controller 120 and a suitable sensor) to index the product shipments along the conveyor belt 32 for shipment of the products. Placed in the appropriate position for the operator's hand (eg left or right hand), To pick and place the items in the order shipment on the corresponding side of the operator. (Figure 13, block 2320). In the exemplary embodiment, the conveyor belt 32 feeds the product shipment from a side where the product shipments PTIB, PTOB buffered at the workstation can be moved past a current product shipment station to correspond to the current The location of the order shipment CTAI, CTAO. For example, the buffered shipment PTIB can move past the station RH such that the shipment becomes the PTIB, the current shipment PTAI at the station LH, and the buffer shipment PTOB is moved to the station RH to become the current shipment PTAO. Thus, for each order shipment, different units corresponding to the different order lines can be picked very dexterously, for example, by the operator's left and right hands, while the operator does not rotate or Causing an arm movement across the body (eg, not placing the item in the current order shipment CTAI on the operator's left hand with the right hand of the product on the right side of the operator, PTAO, or vice versa Also). As can be achieved by Figures 9A-9B, the product shipments enter the stations or pick-up areas RH, LH and stop at one of the stations RH, LH such that the pick-up position decisively signals to The operator, that is, the placement of items from the individual product shipments PTAI, PTAO, in any suitable manner. (Figure 13, block 2330). For example, if the product shipment PTAI is on the operator's left hand side, the item picked up by the product shipment PTAI is placed in the order shipment CTAI on the left hand side of the operator. Similarly, if the product shipment PTAO is on the right hand side of the operator, the item picked up by the product shipment PTAO is placed in the order shipment CTAO on the right hand side of the operator. Such workstations 24 It can be configured to provide minimal operator movement when delivering items from the product shipment to the order shipment. As a non-limiting example, the workstation can be constructed such that the operator only has to move an item up the product shipment only a few miles, above and below the order shipment, into the order shipment, and The operator does not turn his/her body and/or head to the left or right side toward a different order shipment. It should be noted that the heavy item will be moved from a product shipment to an order shipment (eg, the item cannot be lifted by the user's hand), the chair on which the operator sits can be constructed for rotation The heavy item is placed in the order shipment so that the operator does not reverse the back of the operator.

One or more displays DI, DO may be provided for viewing by the operator at the workstation 24 during the pick and place operation to indicate a number of items to be removed by each product shipment PTAI, PTAO, It is used to place the corresponding hand shipments CTAI, CTAO by the corresponding hand of the operator (for example, left or right hand). (Fig. 13, blocks 2340, 2350). In one aspect, the displays DI, DO can be substantially immediately behind the product shipments PTAI, PTAO associated with them, or any other suitable location within the operator's field of view, and easily The displays DI, DO are associated with their individual product shipments PTAI, PTAO. It should be noted that the displays DI, DO can be positioned in a "head down" configuration such that when the operator is looking at at least the items in the product shipments PTAI, PTAO, such operation The person does not need to make his/her eyes leave the item to be transported, and the operator does not need to change the field of view of the displays DI, DO, the display DI, DO look Have to see. As a non-limiting example of the display configuration, both the display DI and the product shipment PTAI are tied to the operator's left hand side such that the display DI indicates how many items will be removed and placed by the product shipment PTAI. In the order shipment CTAT. Likewise, both the display DO and the product shipment PTAO are tied to the operator's right hand side such that the display DO indicates how many items will be removed from the product shipment PTAO and placed in the order shipment CTAO. . It should be noted that while the two displays DI, DO are displayed, it should be understood that a single display may be provided where the single display operates to indicate a number of items to be removed from the product shipments PTAI, PTAO. The displays DI, DO can be, for example, any suitable display, such as an array of light sources and/or LCDs or another flat panel display.

The displays can be constructed (e.g., via communication with controller 120) to "count" the number of items to be picked. For example, if three items are to be removed from the product shipment PTAI and placed in the order shipment CTAI, the initial indication from the display (eg, when the product shipment PTAI arrives at the station LH) will indicate that three items will be removed. . When the first item is removed and placed in the order shipment CTAI, the display changes to indicate that the two or more items are to be removed (eg, many illumination lights are changed from three to two, or the number of displays Change from "3" to "2") and so on. As can be implemented, the displays DI, DO can be connected to the controller 120, for example, in any suitable manner for providing an indication of the number of items to be removed from the product shipment. For example, the controller 120 can be configured to cause the display DI, DO to be instructed by the individual product in any suitable manner. The initial number of items removed by the PTAI and PTAO. The controller 120 can be coupled to any suitable sensor or tracking device for sensing/detecting or otherwise verifying that the product shipments PTAI, PTAO are to be removed and placed on the corresponding order. Shipment of items of CTAI, CTAO. (FIG. 13, block 2360), in an example, the workstations 24 can include a weight sensor 1000 for sensing the weight of each order shipment CTAI, CTAO. The weight sensors 1000 can be coupled to the controller 120 in any suitable manner, and the controller 120 can be loaded with each of the product shipments PTAI, PTAO, such as via any suitable memory. The weight is built. When each item is placed in the order shipments CTAI, CTAO, the weight of the order shipments CTAI, CTAO is changed by the weight of each item taken from the individual product shipments PTAI, PTAO . The controller 120 can be configured to confirm this increase in the order shipment weight (via the weight sensors 1000) and determine how many items from the product shipments PTAI, PTAO have been placed on the order shipment Among the individual CTAI and CTAO. Based on the number of items placed in the order shipments CTAI, CTAO, the controller 120 is configured to determine how many items from each of the product shipments PTAI, PTAO will be placed in the individual The orders are shipped in CTAI, CTAO, and the displays DI, DO are changed accordingly to indicate how many items will be removed from the product shipments PTAI, PTAO.

In another aspect, the workstations 24 can include one or more motion tracking units MT that are configured to track, for example, the hands of the operators on the product shipments PTAI, PTAO, and the individual order shipments. CTAI The movement between CTAO. The (equal) motion tracking unit MT can be connected to, for example, the controller 120 in any suitable manner. The (etc.) motion tracking unit can include, for example, a glove 2000 (FIG. 10) having a surface (eg, a reflective surface), or another suitable component 2010 that the motion tracking unit MT is configured to detect. As can be achieved, the surface or another suitable component 2010 can have any suitable form and be secured to any suitable wearable article, such as a bracelet or finger ring. It should be noted that the glove can also be constructed to increase grip and reduce hand fatigue. The controller 120 can be configured, for example, through the action tracking unit MT to track the number of times the user's left and right hands move between the individual products and the order shipments PTAI, CTAI and PTAO, CTAO, and change the individual display. An indication on DI, DO to indicate the reduction in items to be removed from the individual product shipments PTAI, PTAO. As can be implemented, the motion tracking unit MT and the weight sensors 1000 can operate together or individually to determine the number of items placed in the order shipments CTAI, CTAO. It should be noted that the number of items placed in the order shipments can be tracked in any suitable manner for changing the displays DI, DO as described herein. The motion tracking unit MT can also be configured to indicate when the shipment is being advanced by the workstation 24 to indicate when the hands of the operators are avoiding the product shipments PTAI, PTAO.

The controller 120 can also be configured to communicate with the operator via, for example, an audio headset HS. The audio headset HS provides two-way communication between the operator and the controller 120 (eg, voice recognition and speech generation or text-to-speech). The controller 120 can be constructed to provide rotation to the operator An audible indication, for non-limiting exemplary purposes, indicating the number of items to be removed by each product shipment PTAI, PTAO, the location of placement of such items, and the error in item placement. The headset HS can also communicate with other headsets to allow for two-way communication between the administrator and the operator. The controller 120 can also be configured to receive input from the operator for non-limiting exemplary purposes, such as confirmation of the quantity of items placed in the order shipment, when the product shipment is avoided. The confirmation that the operator will take a break when advancing after the last pick of the product shipment.

Referring now to Figure 11, an exemplary operation of the warehousing system 12 will be described. As noted above, the product shipment PT is introduced into the storage and retrieval system in any suitable manner. (Figure 11, block 800). For example, the product shipment PT can be delivered by another storage and retrieval system, such as the storage and retrieval system 100 of Figure 2, or by a segmented area provided by a delivery truck such as a manufacturing facility. Product shipment PT or box unit. The product shipment PT or box unit can be operated, for example, by removing the top of the shipment or box unit to provide access to the contents therein. The product shipments PT are, for example, transferred to the inbound conveyor belt 150I of the storage system 12, such as by the conveyor belt 13, in any suitable manner. (Figure 11, block 810). The product shipments PT are removed from the conveyor belts 150I and placed in the marked storage locations within the storage area 130. (Figure 11, block 820). As can be implemented, an autonomous vehicle, such as vehicle 110, can transport the product shipments PT between the conveyor belts 150I and the storage areas. When the order is received, it is marked to fulfill the order The product shipment PT is removed from the storage area 130 to the conveyor belt 150O by, for example, the vehicle 110 for delivery to a predetermined one or more of the workstations 24. At such workstations 24, items are removed from the current product shipments PTAI, PTAO and placed in the corresponding order shipments CTAI, CTAO for fulfilling, for example, customer orders. (Figure 11, block 840). It should be noted that, as described above, in an opportunistic order fulfillment, a product shipment can be used to supply a majority of the order shipment before the product shipment is removed from the workstation, and vice versa. Where a product shipment is used to supply only one order shipment (eg, the product shipment is removed from the workstation, substantially immediately following the current order shipment being marked by the product shipment) After the supply - see Figure 13, block 2370, but it should be understood that the product shipments can be removed from the workstation to the storage area without supplying the entire order, for example, for the shipment of the product, such as when the product is shipped When the item has insufficient items to fulfill the indicated quantity). The controller can be configured to cause the conveyor belt 32 to transport the product shipments, and the items have been shipped from the product shipments to the order shipments CTAI, CTAO to exit the stations LH, RH, such that Other product boxes may be instructed to the station for completing the transfer of the marked items into the order shipments CTAI, CTAO. If implemented, any suitable number of product shipments can be delivered to the stations LH, RH for the transfer of the item to a single order shipment (eg, delivery of the item to a single order shipment item is by one station LH, Transfer of RH to individual order shipments where the order shipment is not moved by the current location until the order shipment is supplied with all of the marked items - see Figure 13, Block 2380, but it should be understood that the order shipments can be removed from the workstation to the storage area without the supply of the entire order, for example, for the shipment of the product. As described above, the product shipments PT can be conveyed around the loops L1-L3 of the conveyor belt 32 to convey the product shipments to any of the workstations 24, the workstations requesting items from the shipments, Perform a customer order. The product shipments of the items that remain in them after the customer orders are fulfilled are transferred back into the storage area 130 by the conveyor belts 150I and the vehicle 110. The empty product shipment can be removed from the workstation area by, for example, a suitable conveyor belt (e.g., conveyor belt 32O) and will not return to the storage area. The empty product shipment can be transferred to a segmented area for reuse or disposal in the storage system 12. The supplied or partially supplied order shipments CT may be transported by the conveyors 150I and the vehicle 110 from the workstations 24 into the storage area 130 where they are stored until such time as the order shipment CT will The time when it was shipped to the customer. (Figure 11, block 840). As can be achieved, after the workstation 24 is provisioned, the product shipments can be transferred directly to a shipping area without being placed in the storage area 130. When the order shipments CT are to be shipped to the customer, the vehicles 110 remove the order shipments CT from the storage area 130 and transfer them to the conveyor belt 150O. From the conveyor belt 150O, the order shipments CT are conveyed to the order staging conveyor 40 in any suitable manner, such as at the transfer station 150O. The order staging conveyor 40 transports the order shipments CT to the staging area where they are prepared for shipment in any suitable manner, such as by packaging the order shipment, placing the order shipment On the gantry or another shipping capacity The order shipment is placed on, or otherwise placed in, a shipping device for shipment to the customer. (Figure 11, block 850). If implemented, the controller 120, or another suitable controller, is configured to issue commands to the various components of the warehousing system 12 for performing the introduction of the product shipment PT into the warehousing system 12, and product shipments. The transfer with the order shipment within the warehousing system 12 is used to fulfill customer orders.

In accordance with a first aspect of the disclosed embodiment, a storage system for storing and retrieving items disposed in the container is provided. The system includes a multi-layer storage array, each layer having a transport area and a storage area, the storage area including an array of storage shelves configured to hold the containers thereon, and the transport area is substantially continuous and Arranging to connect the storage shelves in communication with each other; at least one substantially continuous lifter for transporting the container to at least one layer of the multi-layer storage array and transporting the container by at least one layer of the multi-layer storage array; at least one transport vehicle Positioned on the at least one layer and configured to traverse the transport area and transport the container between the at least one continuous lifter and the container storage location on the storage shelves such that the at least one continuous The elevator is indefinitely in communication with the container storage location of each storage shelf on the at least one layer via the transport vehicle; a feed transport system communicably coupled to the at least one continuous lifter for accessing the product a container holding the inventory on the storage shelves; and an order fulfillment station configured to be used by the product on the storage shelves The inventory items generated corresponding to the customer order of the order containers, and a holding line items by the customer orders mark of the discharge station line may be connected to the multilayer storage array via the at least one continuous lifter communication with, so to The order container from the fulfillment station enters the storage shelf of the multi-layer storage array.

In accordance with a first aspect of the disclosed embodiment, at least one of the transport vehicles coupled to the feed transport system and the order fulfillment station is a shared transport vehicle.

In accordance with a first aspect of the disclosed embodiment, the array of storage shelves are arranged in a row, and the shipping area forms a walkway between the rows, and each of the columns of the storage shelf is communicably connected to each The container is stored to the at least one continuous lifter.

In accordance with a first aspect of the disclosed embodiment, the warehousing system further includes a controller programmed to guide the at least one transport vehicle along the transport area such that the at least one transport vehicle is capable of following each of the columns The storage shelf is moved by the at least one continuous lifter to each container storage location.

In accordance with a first aspect of the disclosed embodiment, the warehousing system further includes a programmed controller such that the product container and the order container are transported by the at least one transport vehicle to the at least one continuous lifter and the array The container storage location of the storage shelf and the container storage location of the at least one continuous elevator and the storage shelf of the array.

In accordance with a first aspect of the disclosed embodiment, the at least one continuous elevator defines a container selector for use in the multi-layer storage array and the order fulfillment station.

In accordance with a second aspect of the disclosed embodiment, a storage system for storing and retrieving items disposed in the container is provided. The system includes a multi-layer storage array, each of the multi-layer storage arrays having a shipping area and a storage a storage area comprising an array of storage shelves configured to hold a container thereon, and the transport area is substantially continuously configured to connect the storage shelves in communication with one another; at least one substantially a continuous lifter for transporting containers to at least one layer of the multi-layer storage array and at least one layer of the multi-layer storage array; at least one order fulfillment station configured to be used by the product containers on the storage shelves The inventory item in the middle generates an order container corresponding to the customer order, and holds the order item indicated by the customer order, and the at least one order fulfillment station is communicably connected to the multi-layer storage array via the at least one continuous elevator So that the order container from the at least one order fulfillment station enters the storage shelf of the multi-layer storage array; and at least one transport vehicle is located on the at least one layer and is constructed to traverse the transport area, and Transporting the container between the at least one continuous lifter and the container storage location on the storage shelves such that the at least one transport vehicle Communication by the at least one substantially continuous lifter inconclusive, the system and the at least one common line for the performance of each station.

In accordance with a second aspect of the disclosed embodiment, the storage system further includes a feed transport system communicably coupled to the at least one continuous lifter for accessing product containers on the storage shelves, holding inventory items .

In accordance with a second aspect of the disclosed embodiment, the storage system further includes a controller programmed to guide the at least one transport vehicle along the transport area such that the at least one transport vehicle is capable of being at least one continuous The lifters are moved along each column of the storage shelf to each container storage location.

In accordance with the second aspect of the disclosed embodiment, the warehousing system further includes a programmed controller such that the product container and the order container are The at least one transport vehicle is transported to the container storage location of the at least one continuous lifter and the array storage shelf, and is transported by the at least one continuous lifter and the container storage location of the array storage shelf.

In accordance with a third aspect of the disclosed embodiment, an order fulfillment station is provided that is configured to supply an order container corresponding to a customer order from an inventory item disposed in a product container, and to hold an order item indicated by the customer order . The fulfillment station includes an operator station where the operator is stationed for picking up inventory items from the product container and placing the order container; the product container station is configured to position the product containers for use by the Receiving inventory items at the operator station by the operator, the product container station being configured to define more than one product container holding position; and an order container station configured to locate the order containers for use And placing, by the operator, the order item in the order container at the operator station, the order container station defining more than one order container holding position, wherein the product container station and the order container station have predetermined characteristics, such The feature defines a biased feature for picking from the product container at the more than one product container holding position, each product container holding position having a different hand position than the adjacent product container holding position.

In accordance with a third aspect of the disclosed embodiment, the predetermined feature defining the biased feature includes at least one display configured to indicate that the product container to be transferred and placed by the product on one side of the operator is disposed A number of stock items of the order container on the side of the operator.

In accordance with a third aspect of the disclosed embodiment, the predetermined feature defining the biased feature includes a communication device that is configured to indicate that the operator is to be A product container on one side conveys and loads a number of inventory items of an order container disposed on the side of the operator.

In accordance with a third aspect of the disclosed embodiment, the predetermined features defining the biased features include left and right product container stations and left and right order container stations, wherein the inventory items removed by the product container at the left product container station The item is placed in the order container at the left order container station, and the item removed from the product container at the right product container station is placed in the order container at the right order container station.

In accordance with a third aspect of the disclosed embodiment, the product container station includes left and right hand product container stations, and predetermined features defining a chiral feature include the operator station configured to cause the left hand product container station to be in position The operator station is on the left hand side and the right hand product container station is on the right hand side of the operator station.

In accordance with a third aspect of the disclosed embodiment, the order container station includes left and right hand order container stations, and the predetermined features defining the chiral features include the operator station configured to cause the left hand order container station to be tied The operator station is on the left hand side and the right hand order container station is on the right hand side of the operator station.

In accordance with a fourth aspect of the disclosed embodiment, an order fulfillment station is provided that is configured to supply an order container corresponding to a customer order from an inventory item disposed in a product container, and to retain an order item indicated by the customer order . The fulfillment station includes an operator station where the operator is stationed for picking up inventory items from the product container and placing the order container; the product container station is configured to position the product containers for use by the By the operator Picking up inventory items at the operator station, the product container station being configured to define more than one product container holding position; an order container station configured to locate the order containers for use by the operator The operator station places the order item in the order container, the order container station defining more than one order container holding position; wherein the more than one product container holding position and the more than one order container holding position are constructed for lending The operator is highly dexterously picking and placing at the operator station at the same time, the more than one product container holding position indexing the one or more order container holding stations so that the pick and place are tied The indexed product container holding station and the order container holding station are decisively implemented.

In accordance with a fourth aspect of the disclosed embodiment, the one or more product container locations include a first product container location disposed on a right hand side of the operator station and a first device side disposed on the left hand side of the operator station a product container location, the one or more order container locations including a first order container location disposed on a right hand side of the operator station, and a second order container location disposed on a left hand side of the operator station The left and right hand products and the order container are positioned such that the inventory items are substantially simultaneously removed by the left and right hand product container stations and placed in an individual one of the left and right hand order container stations.

In accordance with a fourth aspect of the disclosed embodiment, the order fulfillment station further includes at least one of an audible and visual indicator configured to indicate a correspondence to be placed by the product containers for placement in the order containers A number of stock items in the container.

In accordance with a fourth aspect of the disclosed embodiment, the order fulfillment station further includes An order container conveyor belt and a product container conveyor belt, and a controller coupled to each of the order container conveyor belt and the product container conveyor belt, the controller being constructed to control the container on each of the conveyor belts The movement causes the product container containing the inventory item to be delivered to the predetermined order container to be shipped to a corresponding product container holding position, and the predetermined order container is tied to a predetermined order container holding station.

It should be understood that the foregoing description is merely illustrative of the invention. Various other alternatives and modifications can be devised by those skilled in the art without departing from the invention. Accordingly, the present invention is intended to embrace all such alternatives, modifications and

12‧‧‧Warehouse system

13‧‧‧Conveyor belt

20‧‧‧ modules

22‧‧‧ Order fulfillment unit

24‧‧‧Workstation

24A‧‧‧ Order fulfillment station

24B‧‧‧ Order fulfillment station

32‧‧‧ conveyor belt

32A‧‧‧ Station

32B‧‧‧ Station

Part 32C1‧‧‧

32C2‧‧‧Parts

32L1‧‧‧ conveyor belt part

32L2‧‧‧ conveyor belt part

32O‧‧‧ output

32Q‧‧‧伫

34‧‧‧ conveyor belt

34I‧‧‧ input

34IO‧‧‧ conveyor belt station

34O‧‧‧ output

34Q‧‧‧伫

34SI‧‧‧ Station

34SO‧‧‧ Station

36‧‧‧Return conveyor belt

40‧‧‧ conveyor belt

100‧‧‧Storage and retrieval system

110‧‧‧ Robot

120‧‧‧ Controller

130‧‧‧Storage structure

130A‧‧‧ Picking a walkway

130B‧‧‧Transport platform

130F‧‧‧Aisle floor

140A‧‧‧Transfer station

140B‧‧‧Transfer station

150‧‧‧ Lifter

150A‧‧‧Inbound conveyor belt

150B‧‧‧Outward conveyor belt

150I‧‧‧Multilayer upright conveyor belt

150O‧‧‧Multilayer upright conveyor belt

160‧‧‧Output transfer station

170‧‧‧Feed transfer station

170I‧‧‧Transfer station

170O‧‧‧Transfer station

295‧‧‧Transfer area

398‧‧‧ bracket

399‧‧‧ bracket

500X‧‧‧Storage rack

501‧‧‧ storage module

502‧‧‧ storage module

503‧‧‧ storage module

510‧‧‧ storage interval

511‧‧‧ storage interval

600‧‧‧Storage shelves

610‧‧‧ bracket

611‧‧‧ bracket

612‧‧‧ bracket

613‧‧‧ bracket

620‧‧‧ channel

620B‧‧‧Channel section

620H1‧‧‧bend part

620H2‧‧‧Bending part

620L1‧‧‧Support feet

620L2‧‧‧Support feet

620S‧‧‧ Space

698‧‧‧ arrow

700‧‧‧Workstation

710‧‧‧Rack

720‧‧‧Chain

730‧‧‧Transporting shelves

730i‧‧‧Shelf

730ii‧‧‧ Shelving

750‧‧‧load

751‧‧‧load

752‧‧‧load

753‧‧‧load

860‧‧‧ arrow

870‧‧‧ arrow

900‧‧‧ platform

910‧‧‧Support finger

911‧‧‧Rack

1000‧‧‧weight sensor

1130‧‧‧ machine system

1135‧‧‧ machine system

1150‧‧‧ picking position

1200‧‧‧Rack

1210‧‧‧Drive system

1211‧‧‧ drive wheel

1211M‧‧ motor

1212‧‧‧ drive wheel

1212M‧‧ motor

1213‧‧‧ Idler

1214‧‧‧ Idler

1220‧‧‧Control system

1230‧‧‧bearing area

1235‧‧‧Transport arm

1235A‧‧‧Parts

1235B‧‧‧Put

1235B1‧‧‧ fragment

1235B2‧‧‧ fragment

1235D‧‧‧ drive rod

1235F‧‧‧ fence

1235L‧‧‧ lifting device

1235P‧‧‧Put

1235R‧‧‧Roller

1235RB‧‧‧ Roller bed

1250‧‧‧Guide Roller

1251‧‧‧guide roller

1252‧‧‧ Guide wheel

1253‧‧‧guide wheel

1260‧‧‧ casters

1260’‧‧‧ casters

1261‧‧‧ casters

1261’‧‧‧ casters

1266‧‧‧ arrow

1298‧‧‧Drive end

1299‧‧‧Drive end

1300‧‧‧ Track

1300F‧‧‧ friction member

1300R‧‧‧ recessed part

1300S‧‧‧ surface

1400‧‧‧ capacitor

1410‧‧‧Locking parts

1470‧‧‧ vertical axis

1471‧‧‧ Direction

1472‧‧‧ Direction

1490‧‧‧Motor

1495‧‧‧Extension motor

1495B‧‧‧Belt and pulley system

1500‧‧‧Target items

1501‧‧‧load

1502‧‧‧load

1502A‧‧‧ items

1502B‧‧‧ Items

1503‧‧‧load

2000‧‧‧Gloves

2010‧‧‧ Parts

1550‧‧‧ Shelving

1600‧‧‧load

1610‧‧‧Drive motor

1620‧‧‧ arrow

AL‧‧‧Transport system

DI‧‧‧ display

DO‧‧‧ display

HS‧‧‧ headphone

L1‧‧‧ Loop

L2‧‧‧ Loop

L3‧‧‧ Loop

LH‧‧ station

MT‧‧‧ tracking unit

RH‧‧ station

The foregoing aspects and other features of the disclosed embodiments are described in the following description of the drawings, wherein: Figure 1 is a supplement and order fulfillment with features incorporated in accordance with the disclosed embodiments. A schematic plan view of a device of the system; FIG. 1A is a schematic plan view of an apparatus having a supplemental and order fulfillment system incorporating features in accordance with the disclosed embodiments; FIG. 2 is a supplement and arrangement of aspects in accordance with the disclosed embodiments. A schematic plan view of a portion of a fulfillment system; FIG. 3-3N is a schematic illustration of a transport vehicle in accordance with an aspect of the disclosed embodiment; and FIG. 4-4C is an apparatus of FIG. 1 in accordance with an aspect of the disclosed embodiment. a schematic representation of a portion of a storage system; 5-5F are schematic illustrations of a conveyor belt system in accordance with an embodiment of the disclosed embodiment; FIG. 5G is a flow diagram in accordance with an embodiment of the disclosed embodiment; FIG. 6 is a A partial perspective view; and FIG. 6A is a partial perspective view showing a portion of the system of FIG. 6; FIGS. 7A-7F are schematic perspective views of the system shown in FIG. 6, for clarity, in a separate view. One or more of the parts or system components are removed; Figure 7A shows a product shipment conveyor; Figure 7B further shows the workstation; Figure 7C further shows the shipment conveyor; and Figure 7D further shows the empty product Shipment conveyor belt; Figure 7E further shows the supplemental product to the conveyor belt; and Figure 7F shows the order segment conveyor belt in accordance with the disclosed embodiment; Figures 8A-8C respectively show the embodiment in accordance with the disclosed embodiment FIG. 9A-9B are schematic plan views of the workstation, showing the workstation at different stages during the supplementary process; FIG. 10 is a schematic partial view. Figure shows a portion of a supplemental system in accordance with aspects of the disclosed embodiment; Figure 11 is a flow diagram of an exemplary process in accordance with an embodiment of the disclosed embodiment; Figure 12 is a flow diagram in accordance with an embodiment of the disclosed embodiment Figure 13 and Figure 13 are flow diagrams in accordance with aspects of the disclosed embodiments.

12‧‧‧Warehouse system

13‧‧‧Conveyor belt

20‧‧‧ modules

120‧‧‧ Controller

130‧‧‧Storage structure

130A‧‧‧ Picking a walkway

130B‧‧‧Transport platform

150B‧‧‧Multilayer upright conveyor belt

150O‧‧‧Multilayer upright conveyor belt

150I‧‧‧Multilayer upright conveyor belt

170I‧‧‧Transfer station

170O‧‧‧Transfer station

295‧‧‧Transfer area

500X‧‧‧Storage rack

PT‧‧‧Product shipments

CT‧‧‧ Order shipment

Claims (20)

A storage system for storing and retrieving goods disposed in a container, the system comprising: a multi-layer storage array, each layer having a transport area and a storage area, the storage area including storage constructed to hold the container thereon An array of shelves, and the transport area is continuous and configured to be interconnected with the storage shelves; at least one continuous lifter for transporting the containers to at least one of the plurality of storage arrays and by the At least one transport container of the multi-layer storage array; at least one transport vehicle positioned on the at least one layer and configured to transport the at least one continuous lifter and the container storage location on the storage shelves across the transport area a container between the at least one continuous lifter via the transport vehicle and the container storage location of each of the at least one storage shelf; the lateral feed transport system coupled to the at least a continuous lifter for accessing product containers on the storage shelves, holding inventory items; and order fulfillment stations, configured Producing an order container corresponding to the customer order from the inventory item in the product container on the storage shelves, and holding the order item indicated by the customer order, the fulfillment station being communicable via the at least one continuous lifter Connected to the multi-layer storage array such that the order container from the fulfillment station is introduced onto the storage shelf of the multi-layer storage array. The warehousing system of claim 1, wherein the at least one transport vehicle connected to the lateral feed transport system and the order fulfillment station is a shared transport vehicle. The storage system of claim 1, wherein the storage shelves of the array are arranged in a row, and the transportation area forms a walkway between the columns, and is connectable along the storage shelf columns Each container stores a location to the at least one continuous lifter. A warehousing system of claim 1, further comprising a controller configurable to guide the at least one transport vehicle along the transport area such that the at least one transport vehicle is capable of following each of the storage shelves The at least one continuous lifter is moved to each container storage position. The warehousing system of claim 1, further comprising a controller configurable such that the product container and the order container are transported by the at least one transport vehicle to the at least one continuous lifter and the storage shelf The container storage location of the array, and the product container and the order container are transported from the container storage location of the at least one continuous lifter and the storage shelf array. The warehousing system of claim 1, wherein the at least one continuous lifter defines a container sorter for use in the multi-layer storage array and the order fulfillment station. A storage system for storing and retrieving goods disposed in a container, the system comprising: a multi-layer storage array, each layer having a transport area and a storage area, the storage area including storage constructed to hold the container thereon Shelf array, and the transport area is continuous and configured to be compatible with the storage shelves Connected to each other; at least one continuous lifter for transporting the container to at least one layer of the multi-layer storage array and at least one layer of the multi-layer storage array; at least one order fulfillment station configured to be The inventory item in the product container on the storage shelf generates an order container corresponding to the customer order and holds the order item indicated by the customer order, the at least one order fulfillment station being communicable via the at least one continuous lifter Connected to the multi-layer storage array such that an order container from the at least one order fulfillment station is introduced onto the storage shelf of the multi-layer storage array; and at least one transport vehicle is located on the at least one layer and is constructed Transporting the at least one continuous lifter and the container between the container storage locations on the storage shelves across the transport area such that the at least one transport vehicle is inconsistently coupled via the at least one continuous lifter and is shared Each of the at least one order fulfillment station. The warehousing system of claim 7, further comprising a lateral feed transport system coupled to the at least one continuous lifter for accessing the product containers on the storage shelves to hold the inventory. A warehousing system of claim 7, further comprising a controller configurable to guide the at least one transport vehicle along the transport area such that the at least one transport vehicle is capable of following each of the storage shelves The at least one continuous lifter is moved to each container storage position. The storage system of claim 7, further comprising a controller, which can be programmed such that the product container and the order container are At least one shipping vehicle is transported to the container storage location of the at least one continuous elevator and the storage shelf array, and the product container and the order container are transported from the container storage location of the at least one continuous elevator and the storage shelf array. An order fulfillment station for a storage system for storing and retrieving goods, configured to fill an order container corresponding to a customer order from an inventory item set in a product container, and to hold an order item marked by a customer order, The fulfillment station includes an operator station at which the operator resides for picking up inventory items from the product container and placing the order container; the product container station is configured to locate the product containers for use in By the operator picking inventory items from the product containers at the operator station, the product container station is configured to define more than one product container holding position; and the order container station is configured to locate the order containers Providing, by the operator, placing the order item in the order container at the operator station, the order container station defining more than one order container holding position, wherein the product container station and the order container station have predetermined characteristics, such The feature defines a biased feature for picking up from the product container at the more than one product container holding position, each product container holding position The product container having a holding abutment positions different handedness. An order fulfillment station of claim 11, wherein the predetermined feature defining the partiality feature comprises at least one display configured to indicate some of the inventory items to be delivered by the product container on one side of the operator And placing a set placed on the side of the operator Single container. An order fulfillment station of claim 11, wherein the predetermined feature defining the biased feature comprises a communication device configured to indicate some of the inventory items to be delivered by the product container on one side of the operator, and Place the order container placed on the side of the operator. For example, the order fulfillment station of claim 11 wherein the predetermined features defining the partial features include left and right product container stations and left and right order container stations, wherein the left product container station is removed from the product container. The item is placed in the order container at the left order container station, and the item removed from the product container at the right product container station is placed in the order container at the right order container station. The order fulfillment station of claim 11, wherein the product container station comprises a left-hand and right-hand product container station, and the predetermined feature defining the biased feature comprises the operator station, which is arranged such that the left-hand product container station Located on the left hand side of the operator station and the right hand product container station is on the right hand side of the operator station. The order fulfillment station of claim 11, wherein the order container station comprises a left-handed and right-handed order container station, and the predetermined feature defining the biased feature comprises the operator station, which is arranged such that the left-hand order container station Located on the left hand side of the operator station, and the right hand order container station is on the right hand side of the operator station. An order fulfillment station for a storage system for storing and retrieving goods, configured to fill an order container corresponding to a customer order from an inventory item set in a product container, and to hold a order marked by a customer order For a single item, the fulfillment station includes an operator station at which the operator resides for picking up inventory items from the product container and placing the order container; the product container station is configured to locate the product containers For picking up inventory items from the product containers at the operator station by the operator, the product container station being configured to define more than one product container holding position; the order container station being configured to locate such An order container for placing an order item in the order container by the operator at the operator station, the order container station defining more than one order container holding position; wherein the more than one product container holding position and the more than one An order container holding position is constructed for the operator to pick and place at the same time at the operator station, the more than one product container holding position being relatively indexed to the one or more order container holdings The position is such that picking and placement are decisively performed between the indexed product container holding station and the order container holding station. An order fulfillment station of claim 17 wherein the one or more product container locations include a first product container location disposed on a right hand side of the operator station and disposed on a left hand side of the operator station a second product container location, and the one or more order container locations includes a first order container location disposed on a right hand side of the operator station and a second order container disposed on a left hand side of the operator station Position, wherein the left and right hand products and the order container are positioned such that the inventory items are simultaneously removed by the left and right hand product container stations and placed in the left and right hand order capacities The station is in a different container station. An order fulfillment station, as in claim 17, further comprising at least one of an audible and visual indicator configured to indicate a corresponding container for being placed in the order container to be removed from the product containers Stock goods. The order fulfillment station of claim 17 of the patent application, further comprising an order container conveyor belt and a product container conveyor belt and a controller connected to each of the order container conveyor belt and the product container conveyor belt, the controller is constructed Controlling movement of the container on each of the conveyor belts such that the product container containing the inventory item to be delivered to the predetermined order container is transported to a corresponding product container holding position while the predetermined order container is in place Hold the station in a predetermined order container.