TWI711569B - Storage and retrieval system and method - Google Patents

Abstract

An automated storage and retrieval system including at least one autonomous transport vehicle, a transfer deck that defines a transport surface for the vehicle, at least one vertically reciprocating lift, a first and second pickface interface station connected to the deck and spaced apart from each other, each station forming a pickface transfer interfacing between the vehicle on the deck and the lift at each station so that a pickface is transferred between the lift and the vehicle at each station, wherein the vehicle is configured to pick a first pickface at the first station, traverse the deck and buffer the first pickface, or at least a portion thereof, at the second station so that the second station has multiple pickfaces buffered on a common support in an order sequence of pickfaces according to a predetermined case out order sequence of mixed case pickfaces.

Description

Storage and retrieval system and method

The exemplary embodiment relates generally to a material handling system, and more particularly to the transportation and storage of items in the material handling system.

Multi-level storage and retrieval systems can be used in warehouses to store and retrieve goods. Generally speaking, the transportation of goods in and out of the storage structure is done by a lift to transfer to the car on the storage level, and the car travels along the slope to the predetermined storage level, or the car includes the lift and follows the guide. Lead the way. The goods stored in the storage and retrieval system are generally stored in the storage space at each storage level, so that the transport vehicles configured on that level can access one level of the storage space. Generally speaking, the lifts that transfer the items to and from the storage space and move the carts between different storage levels are integrated into the cart (for example, with a lifting frame crane), or have a rosary configuration, in which the lifter payload The shelf continues to circulate around the frame at a predetermined rate.

The box unit output from the multi-level storage and retrieval system is transferred to the stacking station, where the box unit is placed on the pallet for transportation. Generally speaking, the pallet includes box units of similar size and shape, so on the pallet A stable box level is formed, sometimes with cardboard between the levels. In some cases, each level of the pallet is formed separately and then placed on the pallet to form a stacked layer. It may also be a mixed pallet. Generally speaking, when the pallet layer is formed, the box is placed in the buffer station or in other positions of the palletizing station, so that the dimensions of the box are measured. The computer or other processor determines the configuration of the box based on the scale and instructs the robot to pick up the box and place it in the pallet layer.

During the transportation of the box units from the storage structure of the storage and retrieval system, it is advantageous to classify the box units to be placed on pallets to increase the throughput of the storage and retrieval system.

1~18‧‧‧Pick up surface

100‧‧‧Automatic storage and retrieval system

110, 110’‧‧‧Autonomous roaming or transport vehicle ("robot")

110C‧‧‧controller

110DR‧‧‧Drive area

110E1, 110E2‧‧‧End

110F‧‧‧Frame

110GW‧‧‧Guide wheel

110PA‧‧‧End effector, transfer arm

110PB‧‧‧Payload bed

110PF‧‧‧Fence or reference piece

110PL‧‧‧Payload area

110PR‧‧‧Propelling rod or piece

110RL‧‧‧Drum

110S‧‧‧Sensor

110TP‧‧‧Horizontal box unit transportation throughput

120‧‧‧Central system control computer (control server)

130‧‧‧Storage structure

130A, 130A1, 130A2‧‧‧Pickup channel

130B‧‧‧Transfer deck

130BD, 130BD1, 130BD2‧‧‧Transfer deck side, extension or dock

130BE1, 130BE2‧‧‧End

130BS‧‧‧Transport surface

130C‧‧‧Charging station

130F‧‧‧Positioning features

130L‧‧‧Storage or deck level

130LS1~130LS4‧‧‧Shelf level

130LTP‧‧‧Multi-level box unit storage throughput

130S, 130S1, 130S2‧‧‧Pick up surface storage/transfer space (storage space)

150‧‧‧Lift Module

150A, 150A1‧‧‧Input vertical lift module

150B, 150B1, 150B2‧‧‧Output vertical lift module

150TP‧‧‧Vertical transportation throughput

160CA, 160CA1‧‧‧Conveyor belt

160CB、160CB1‧‧‧Conveyor belt

160EP‧‧‧operator station

160IN, 160IN1‧‧‧input station

160PA‧‧‧ Pallet remover

160PB‧‧‧Pallet

160TP‧‧‧Throughput at the output station

160UT, 160UT1‧‧‧output station

180‧‧‧Internet

200‧‧‧Lifting mechanism or unit

200M‧‧‧Mast

201‧‧‧round

202‧‧‧Drive wheel

210A, 210B‧‧‧rail

250‧‧‧Transfer arm driver

250A, 250B‧‧‧drive

260A‧‧‧Belt and pulley drive

270‧‧‧ Pickup head

271‧‧‧Belt and pulley drive

271B‧‧‧Belt

272‧‧‧Base member

273、273A~273E‧‧‧Forks or fingers

273JS‧‧‧Align the surface

274A, 274B‧‧‧Actuator

280A, 280B‧‧‧rail

301‧‧‧Extension motor

302‧‧‧Lift motor

303‧‧‧Motor

303T‧‧‧Transmission

351‧‧‧Slit

360‧‧‧Guide rod

360S‧‧‧Sliding Parts

401‧‧‧Access side

402‧‧‧Back

1100~1150‧‧‧Method flow of the invention

1200‧‧‧Horizontal support, shelf rail

1200S‧‧‧rail, deck

1201A~1250‧‧‧Method flow of the invention

1210、1210A~1210C‧‧‧Intermediate shelf, intermediate shelf rail

1210S‧‧‧Slats

1212‧‧‧Vertical support

1250A~1250J‧‧‧Method flow of the invention

1400~1435‧‧‧Method flow of the invention

1500‧‧‧operator

1600~1620‧‧‧Method flow of the invention

1800~1803‧‧‧Method flow of the invention

1900~1920‧‧‧Method flow of the invention

2000~2020‧‧‧Method flow of the present invention

2300~2330‧‧‧Method flow of the present invention

2500‧‧‧Warehouse Management System

2500~2520‧‧‧Method flow of the present invention

4000A, 4000B‧‧‧Active transfer arm or pickup head

4001‧‧‧Carrier, Slider

4002‧‧‧Vertical mast

4002D‧‧‧Drive unit

4005, 4005A‧‧‧Drive unit

4050, 4050A, 4050B‧‧‧driving direction

4200, 4200A‧‧‧Frame, carrier

4272, 4272A‧‧‧Base member

4273‧‧‧Forks or fingers

4360S, 4360SA‧‧‧rail

7000A~7000L‧‧‧Shelf

BL‧‧‧Buffer Road

BS‧‧‧Buffer station, surrounding buffer station

BSD‧‧‧peripheral buffer station

BTSTP‧‧‧Box buffer throughput

CS‧‧‧Common support/surface

CU‧‧‧Box Unit

CUA~CUC‧‧‧Box Unit

CUD, CUD1, CUD2‧‧‧Box Unit

CUE, CUE1~CUE3‧‧‧Box unit

CUF1, CUF2‧‧‧Box Unit

CUSP‧‧‧Box unit support plane

CUTS‧‧‧Upper surface or top surface

DEPAL‧‧‧Depalletizer

G‧‧‧Horizontal space/clearance

HSTP‧‧‧High-speed robot travel path

MPL‧‧‧Mixed box pallet load

L121~L125‧‧‧Flat box layer

L12T‧‧‧Flat box layer

LHD‧‧‧Lift loading control device

LHDA, LHDB‧‧‧Pickup head part, effector, transfer arm

LT‧‧‧Side shaft

LX‧‧‧Vertical axis

PAL‧‧‧ Pallet

PAS1, PAS2‧‧‧ side

PCF1‧‧‧First pickup surface

PCF2‧‧‧Second Pickup Surface

PCF3‧‧‧Different picking surfaces

PCF4‧‧‧The third pickup surface

PF, PF1, PF2‧‧‧Pick up surface

REF‧‧‧Robot reference frame

REF2‧‧‧Frame Reference Frame

RM‧‧‧Multi-storage rack module

RMA‧‧‧High-density three-dimensional rack array

RMAE1, RMAE2‧‧‧End or side

RSP‧‧‧Box unit support plane

RTS‧‧‧Transfer rack shelf

SECA, SECB‧‧‧ District

SEQ‧‧‧Sequencing

SF‧‧‧Box unit support surface

SP‧‧‧Pick up plane

TL1, TL2‧‧‧Stacking level

TOT‧‧‧Container

TS‧‧‧Transfer station, interface station

VG‧‧‧Vertical Space/Gap

X1, X2‧‧‧Distance

X3‧‧‧Contact depth

X4‧‧‧Distance

Z1‧‧‧Pitch

Z1A~Z1E‧‧‧Height

The aforementioned aspects and other features of the disclosed embodiment are explained in the following description along with accompanying drawings, in which: FIGS. 1 and 1A are schematic diagrams of an automatic storage and retrieval system according to many aspects of the disclosed embodiment; FIGS. 1B, 1C, 1D and 1E are partial schematic diagrams of the automatic storage and retrieval system according to various aspects of the disclosed embodiment; FIG. 1F is a schematic diagram of the mixed pallet load formed by the automatic storage and retrieval system according to the disclosure of many aspects of the embodiment; 1G is a partial schematic diagram of an automatic storage and retrieval system according to many aspects of the disclosed embodiment; FIGS. 2A and 2B are partial schematic diagrams of a storage and retrieval system according to many aspects of the disclosed embodiment; FIGS. 3A and 3B are based on the disclosure Storage of many aspects of the embodiment and A partial schematic diagram of the retrieval system; FIGS. 4A, 4B, and 5 are partial schematic diagrams of a storage and retrieval system according to various aspects of the disclosed embodiment; FIG. 6 is a schematic diagram of a transport vehicle according to various aspects of the disclosed embodiment; FIG. 6A is A schematic diagram of a transport vehicle according to various aspects of the disclosed embodiment; FIGS. 7 and 8 are partial schematic diagrams of a transport vehicle according to various aspects of the disclosed embodiment; FIG. 9 is a part of a storage and retrieval system according to various aspects of the disclosed embodiment Schematic diagram; Figures 10, 10A-10E are partial schematic diagrams of a transport vehicle according to various aspects of the disclosed embodiment; Figures 11-13 are partial schematic diagrams of a storage and retrieval system according to various aspects of the disclosed embodiment; Figures 14-20 are According to an exemplary flowchart that discloses many aspects of the embodiment; FIGS. 21, 22A, and 22B are partial schematic diagrams of an automatic storage and retrieval system according to many aspects of the disclosed embodiment; FIG. 23 is an example based on many aspects of the disclosed embodiment Figure 24 is a partial schematic diagram of the storage and retrieval system according to various aspects of the disclosure embodiment; Figure 25 is an exemplary process according to various aspects of the disclosure embodiment Fig. 26 is a schematic diagram of an operator station of the storage and retrieval system according to various aspects of the disclosure embodiment; and Fig. 27 is an exemplary flowchart according to various aspects of the disclosure embodiment.

[Content and Implementation of the Invention]

FIG. 1 is a schematic diagram of an automatic storage and retrieval system 100 according to various aspects of the disclosed embodiment. Although many aspects of the disclosed embodiments will be described with reference to the drawings, it should be understood that many aspects of the disclosed embodiments can be implemented in many forms. Incidentally, any suitable size, shape or type of elements or materials may be used.

According to many aspects of the disclosed embodiments, the automatic storage and retrieval system 100 can be operated in a retail distribution center or warehouse, for example, to fulfill orders received from retail stores for box units, such as the application on December 15, 2011 As described in US Patent Application No. 13/326,674, the entire disclosure is incorporated herein by reference. For example, the box unit is the goods of many boxes or units that are not stored as trays but are on a carrier or pallet (for example, not included). In other examples, a box unit is a cargo of multiple boxes or units, which are contained in any suitable way, such as in a tray, on a carrier, or on a pallet. In other examples, the box unit is a combination of unincluded and included items. Note that the box unit includes, for example, boxed cargo units (such as boxes of soup cans, boxes of grain...) or individual goods, which are adapted to be removed from the pallet or placed on the pallet. Implementation based on disclosure In many aspects of the example, the shipping box used for the box unit (such as box, barrel, box, crate, tank or any other device suitable for holding the box unit) can have a variable size and can be used to hold the box during transportation. The box holding unit can be constructed so that they can be palletized for transportation. Note that for example, when multiple stacks or pallets of box units arrive at the storage and retrieval system, the content of each pallet can be uniform (for example, each pallet holds a predetermined number of the same item--a certain The pallet holds the soup and the other pallet holds the grain); and as the pallet leaves the storage and retrieval system, the pallet can contain any suitable number and combination of different box units (such as mixed pallets, where each mixed The pallet holds different types of box units (the pallet holds a combination of soup and grain), which, for example, are provided to the pallet in a sorted configuration to form a mixed pallet. In the embodiment, the storage and retrieval system described herein can be applied to any environment in which the box unit is stored and retrieved.

1F, note that, for example, when the incoming multi-stack or pallet (such as from the manufacturer or supplier) of the box unit arrives at the storage and retrieval system to supplement the automatic storage and retrieval system 100, each pallet The content can be uniform (for example, each pallet holds a predetermined number of the same items-one pallet holds soup and another pallet holds grain). As can be understood, the boxes loaded by such pallets can be roughly similar or in other words homogeneous boxes (such as similar dimensions), and can have the same minimum stock unit (SKU) (otherwise, as noted before, the pallet It can be a "rainbow" pallet with multiple layers formed by a homogeneous box). As the pallet PAL leaves the storage and retrieval system 100 to meet the supplementary rules of the box, the pallet PAL can include any suitable number and combination of different box units CU (such as For example, each pallet can hold different types of box units-the pallet holds a combination of canned soup, cereals, beverage bags, cosmetics and household cleaners). The boxes combined on a single pallet can have different sizes and/or different SKUs. In one aspect of the exemplary embodiment, the storage and retrieval system 100 can be configured to generally include a feed-in area, a storage and classification area (in one aspect, the storage of items is optional), and an output area, as follows This will be described in more detail. As can be understood, in one aspect of the disclosed embodiments, for example, the system 100 operating as a retail distribution center can serve as a box receiving a uniform pallet load, disassembling pallet goods from a uniform pallet load, or disassembling the box. Dissociate into independent box units individually manipulated by the system, retrieve and classify the different boxes sought by each order into corresponding groups, transport and assemble the boxes of the corresponding groups into a mixed box pallet load MPL stuff. As can also be understood, as illustrated in FIG. 26, in one aspect of the disclosed embodiment, for example, a system 100 operating as a retail distribution center can serve as a box receiving a uniform pallet load, and stacking from a uniform pallet load The board cargo is disassembled or the boxes are separated into independent box units that are individually manipulated by the system, and the different boxes sought by each order are retrieved and classified into corresponding groups. At the operator station 160EP (the items are here from different The box unit CU of the corresponding group (in the manner described here) is transported and sorted, and/or the different box units CU themselves are placed in one by the operator 1500 or any suitable automation Or more bags, carriers or other suitable container TOT, which are placed in a predetermined order order of picked items, for example, according to the rules for fulfilling one or more customer orders, where the box unit CU is Operator station 160EP is based on the predetermined order order Sorting; note that the sorting of the box units CU as described here is the sorting of the box units CU at the operator station 160EP. The feed-in area may generally be able to break down the uniform pallet load into individual boxes, and transport the boxes via suitable transportation for input to the storage and sorting area. In other respects, in the output area at the operator station 160EP, according to the predetermined order order of the picked items (such as satisfying customer orders), the appropriate group of order box units (their SKU, size...may be different) Assemble into a bag, carrier or other suitable container.

As described in more detail below, the storage and classification area includes a multi-level automatic storage array with a transportation system that in turn receives or feeds individual boxes into the multi-level storage array for storage in the storage area. The storage and sorting area is also defined to transport the box units from the multi-level storage array, so that the desired box units are individually retrieved for transportation to the output area according to the order generated by the order input into the warehouse management system (such as warehouse management system 2500) . Among other things, the storage and sorting area receives individual boxes, sorts individual boxes (for example, using the buffer and interface stations described here), and transfers individual boxes to the output area based on orders entered into the warehouse management system . The classification and grouping of boxes according to the order (such as the order of order) can be performed in whole or in part by either or both of the storage and retrieval area or the output area. The boundary between them is for ease of description, and classification and Grouping can be performed in any number of ways. The desired result is that the output area assembles the ordered boxes of the appropriate group (their SKU, size...may be different) into the mixed box pallet load, the method is described in October 2012, for example US Patent Application No. 13/654,293 (now US Patent No. 8,965,559) filed on the 17th, the entire disclosure of which is incorporated herein by reference.

In an exemplary embodiment, the output area generates a pallet load to form a structured structure that can be called a hybrid box stack. The structured structure of the pallet load described here is representative, and in other respects, the pallet load can have any other suitable configuration. For example, the structured architecture can be any suitable predetermined configuration, such as a truck bay load or other suitable container or load container envelope to maintain the structural load. The structured structure of the pallet load can be characterized by having several flat box layers L121~L125, L12T, at least one of which is formed by a non-staggered, self-supporting stable stack of multiple mixing boxes. The mixing box stacks of a given layer have approximately the same height, and form the substantially flat top and bottom surfaces of a given layer as can be understood, and the number can be sufficient to cover the pallet area or the pallet area as desired section. The cover layer(s) can be oriented such that the corresponding boxes of the layer(s) bridge between the stacks of support layers, thus stabilizing the stack and correspondingly stabilizing the interface layer(s) of the pallet load. In defining the pallet load into a structured layer architecture, the coupled three-dimensional (3-D) pallet load solution is decomposed into two parts that can be stored separately: the load is decomposed into multiple layers of vertical (one-dimensional, 1-D) ) Part; and horizontal (two-dimensional, 2-D) part, which efficiently distributes stacks of equal height to fill the height of each pallet. As will be described below, the storage and retrieval system outputs the box unit to the output area, so that the two parts of the 3-D pallet load solution are broken down. The predetermined structure of the mixed pallet load defines the rules of the box unit, regardless of whether the box unit is provided by the classification and output area to the single box unit picking surface of the load construction system (which can be automatically or manually loaded) or combined box units Pick up the surface.

According to many aspects of the disclosed embodiments, referring again to FIG. 1, The automatic storage and retrieval system 100 includes an input station 160IN (which includes a pallet remover 160PA and/or a conveyor belt 160CA to transport items to the lift module for storage), an output station 160UT (which includes a pallet 160PB, operator station 160EP and/or conveyor belt 160CB to transport the box unit from the lift module and remove it from storage), input and output vertical lift module 150A, 150B (generally called lift Module 150-Note that although input and output lift modules are shown, a single lift module can be used to import and remove box units from the storage structure), storage structure 130, and multiple autonomous roaming or transportation Car 110 (herein referred to as "robot"). Note that the pallet remover 160PA can be configured to remove the box unit from the pallet, so that the input station 160IN can transport the items to the lifter module 150 for input into the storage structure 130. The pallet 160PB may be configured to place items removed from the storage structure 130 on the pallet PAL (FIG. 1F) for transportation. As used herein, the lift module 150, the storage structure 130, and the robot 110 can be collectively referred to as a multi-level automatic storage array (such as storage and classification area) as noted above, so as to define (such as relative to The robot 110's reference frame REF (Figure 6) or any other suitable storage and retrieval system reference frame) transportation/throughput axis (such as three-dimensional), which serves a three-dimensional multi-level automatic storage array, in which each throughput axis has an integrated "In-operation classification" (for example, box units are classified during box unit transportation), so that box unit classification and throughput occur roughly at the same time without a dedicated classifier, as described in more detail below. The classification along each throughput axis is optional, so that the load out (for example, the box unit transferred out to form a pallet load) is along all throughput axes or any of the throughput axes The combination is carried out, and there is roughly no throughput cost compared to the throughput of the box unit without any classification (such as "unclassified" throughput). Taking the example of box unit throughput related to classification, referring also to FIG. 1A, the storage and retrieval system 100 includes several areas or regions of throughput. For example, there are multiple levels of box unit storage throughput of 130LTP (such as putting box units in storage), horizontal box unit transportation throughput of 110TP (such as transferring (multiple) box units from storage along the pick-up channel and transfer deck), box Buffer throughput BTSTP (such as a buffer box unit to facilitate the transfer of box units between storage and vertical transportation), vertical transportation throughput of 150TP (such as a vertical lift to transfer box units), and a throughput of 160TP at the output station (which includes For example, transported by conveyor belt 160CB and palletized by palletizer 160PB). In one aspect, as described herein, the classification of the box units is roughly related to the box units along each throughput axis (for example, relative to the X, Y, and Z axes of the reference frame of the robot 110 and/or the lift 150, for example. ) Throughput of 130LTP, 110TP, BTSTP, 150TP at the same time (such as "in operation"), and the classification along each axis is independently selectable, so the classification is along one or more X, Y , Z axis.

As can be understood, on the one hand, when the robot 110 is moving between the holding position of the box unit/pickup surface and static/standing (for example, not crossing the transfer deck, picking channel...) In this case, the classification of the box unit during the operation occurs on the robot 110 without unloading the box unit/pickup surface carried by the robot 110. As will be described below, one or more of the high-density multi-level shelving channel, the linear buffer station BS along the transfer deck 130B, and the linear multiple placement transfer station TS are roughly aligned along the X axis The classification of throughput is carried out at the same time. As will also be described below, the transfer arm of the robot 110 and the end effector 110PA (which are constructed to sort boxes/pickup surfaces through the end effector traversing along the Y axis to multiple independent pick/place boxes/pickup surfaces, where The Y axis is defined by the extension of the transfer arm 110PA, and is angled in a different direction relative to the robot 110 along the other transportation axis defined by the picking channel 130A), the independent loading control device of the lift 150 (its One or more of the structures are sorted on the lifting platform through the extension of the loading control device along the Y axis), which is carried out roughly at the same time as the throughput sorting along the Y axis. As can be understood, the lifter 150 is constructed to transport the pick-up surface between different transfer deck levels, and provides roughly simultaneous classification along the Z axis (which is defined by the lifter 150) during operation. , As will be described here. In one aspect, the lifter is configured to pick up one or more pick-up surfaces from one or more transfer deck levels, and transport the one or more pick-up surfaces to the loading and filling area or chamber of the storage and retrieval system 100 (For example, output station 160UT). The term loading and filling area or loading and filling chamber (which is used interchangeably herein) refers to the pallet load filling area/chamber (for example, to generate a mixed pallet load MPL) or itemized loading and filling area/chamber, such as As described with respect to Figure 26.

1G and 2A, the storage structure 130 may include multiple storage rack modules RM, which are constructed to form a high-density three-dimensional rack array RMA, which can be accessed by storage or deck level 130L. As used herein, the term "high-density three-dimensional rack array" refers to a three-dimensional rack array RMA, which has an indeterminate open shelving distribution along the picking channel 130A, where multiple stacked racks can be shared from a common Pickup channel travel table It can be used for each picking channel level of the surface or picking channel level (for example, the box unit is placed in each picking channel level in the dynamically positioned storage space, so that the vertical space/gap VG and horizontal space/gap G between the box units are in each picking The channel hierarchy is minimized, as described in more detail below).

Each storage level 130L includes a pickup surface storage/transfer space 130S (herein referred to as storage space 130S) formed by a rack module RM, where the rack module includes shelves along the storage or pickup channel 130A ( It is configured to be connected to the transfer deck 130B), which, for example, extends linearly through the rack module array RMA, and provides the robot 110 to access the storage space 130S and the transfer deck(s) 130B. In one aspect, the shelves of the rack module RM are configured as multi-level shelves, which are distributed along the picking channel 130A. As can be understood, the robot 110 travels on the individual storage level 130L along the picking channel 130A and the transfer deck 130B, so as to be in any storage space 130S of the storage structure 130 (for example, on the level where the robot 110 is located) and any lift The box units are transferred between modules 150 (for example, each robot 110 can access each storage space 130S on an individual level and each lift module 150 on an individual storage level 130L). The transfer deck 130B is configured at different levels (corresponding to each level 130L of the storage and retrieval system), and can be stacked one on top of the other or offset horizontally, such as at one end or side RMAE1 of the storage rack array RMA Or there is a transfer deck 130B at the ends or sides RMAE1, RMAE2 of the storage rack array RMA, for example, as described in US Patent Application No. 13/326,674 filed on December 15, 2011, which discloses the entire combination Take it as a reference here.

The transfer deck 130B is generally open, and is configured for the robot 110 to cross multiple lanes (for example, along the X throughput axis relative to the robot reference frame REF shown in FIG. 6) and to perform uncertain purposes along the transfer deck 130B. Of crossing. As can be understood, the transfer deck(s) 130B at each storage level 130L communicates with each pick-up channel 130A on the individual storage level 130L. The robot 110 traverses bidirectionally between the transfer deck(s) 130B and the picking channel 130A on each individual storage level 130L, so as to travel along the picking channel (for example, along the robot reference frame REF relative to the example of FIG. 6 X throughput axis of each picking channel), and access to the storage space 130S arranged in the rack shelf along each picking channel 130A (for example, the robot 110 can be accessed along the Y throughput axis to be distributed on both sides of each channel The storage space 130S allows the robot 110 to have different faces when traversing each picking channel 130A. For example, referring to FIG. 6, the driving wheel 202 is guided in the direction of travel, or the driving wheel is dragged in the direction of travel after the driving wheel. As can be understood, the outward throughput from the storage array in the horizontal plane corresponding to the predetermined storage or deck level 130L is performed and manifested by the combined or integrated throughput along the X and Y two throughput axes. As noted above, the transfer deck(s) 130B also provides robot 110 access to each lifter 150 on the individual storage level 130L, where the lifter 150 feeds and removes the box units (for example, along the Z throughput Axis) to and from each storage level 130L, and wherein the robot 110 performs the transfer of the box unit between the lifter 150 and the storage space 130S.

As mentioned above, and also referring to Figure 2A, in one aspect, the storage node The structure 130 includes a multi-storage rack module RM, which is constructed as a three-dimensional array RMA, wherein the rack is arranged in the channel 130A, and the channel 130A is configured for the robot 110 to travel in the channel 130A. The transfer deck 130B has an indeterminate transportation surface and the robot 100 travels on it, wherein the indeterminate transportation surface 130BS has more than one parallel lanes (such as a high-speed robot traveling path HSTP) to connect the passage 130A. As can be understood, the parallel lanes are juxtaposed along the indefinite transportation surface 130BS that is common between the opposite sides 130BD1 and 130BD2 of the transfer deck 130B. As shown in Figure 2A, in one aspect, the channel 130A is joined to the transfer deck 130B on one side 130BD2 of the transfer deck 130B; but in other aspects, the channel is joined to more than one side 130BD1 and 130BD2 of the transfer deck 130B. It is roughly similar to that described in U.S. Patent Application No. 13/326,674 filed on December 15, 2011, the disclosure of which was previously in its entirety and incorporated herein by reference. As will be described in more detail below, the other side 130BD1 of the transfer deck 130B includes deck storage racks (such as the interface station TS and the buffer station BS), which are distributed along the other side 130BD1 of the transfer deck 130B, such that at least a portion The transfer deck is inserted between the deck storage rack (for example, the buffer station BS or the transfer station TS) and the passage 130A. The deck storage rack is arranged along the other side 130BD1 of the transfer deck 130B, so that the deck storage rack is connected to the robot 110 from the transfer deck 130B and to the lift module 150 (for example, the deck storage rack is The robot 110 that transfers the deck 130B is taken and used by the lifter 150 for picking and placing the picking surface, so the picking surface is between the robot 110 and the deck storage rack. Transfer between the deck storage rack and the lift 150, and thus between the robot 110 and the lift 150).

1 again, each storage level 130L may also include a charging station 130C to charge the power supply on the robot 110 on the storage level 130L, for example, the US patent application filed on March 13, 2014 Case No. 14/209,086 and No. 13/326,823 (now US Patent No. 9,082,112) filed on December 15, 2011, the entire disclosure of which is incorporated herein by reference.

The robot 110 may be any suitable autonomous transport vehicle capable of independent operation, which moves along the X and Y throughput axes throughout the storage and retrieval system 100 to carry and transfer the box units. On one hand, the robot 110 is an autonomous, independent (for example, free-riding) autonomous transport vehicle. Suitable examples of robots can be found only for example in U.S. Patent Application No. 13/326,674 filed on December 15, 2011; U.S. Patent Application No. 12/757,312 filed on April 9, 2010 (now U.S. Patent No. 8,425,173); U.S. Patent Application No. 13/326,423 filed on December 15, 2011; U.S. Patent Application No. 13/326,447 filed on December 15, 2011 (currently U.S. Patent No. 8,965,619) ; U.S. Patent Application No. 13/326,505 (now U.S. Patent No. 8,696,010) filed on December 15, 2011; U.S. Patent Application No. 13/327,040 (now U.S. Patent No. No. 9,187,244); US Patent Application No. 13/326,952 filed on December 15, 2011; US Patent Application No. 13/326,993 filed on December 15, 2011; Application on September 15, 2014 U.S. Patent Application No. 14/486,008; and U.S. Provisional Application No. 62/107,135 filed on January 23, 2015, the entire disclosure of which is incorporated herein by reference. The robot 110 (described in more detail below) may be configured to place box units (such as the above-mentioned retail goods) into the pick inventory in one or more levels of the storage structure 130, and then selectively retrieve the ordered box units. As can be understood, in one aspect, the throughput axes X and Y of the storage array (such as the pick-up surface transportation axis) are formed by the pick-up channel 130A, at least one transfer deck 130B, the robot 110, and the extendable end effector of the robot 110 (such as (And in other respects, the extendable end effector of the lifter 150 also at least partially defines the Y throughput axis). The pickup surface is in the inward area of the storage and retrieval system 100 (where the pickup surface inward to the array is generated, for example, this is the input station 160IN) and the loading and filling area of the storage and retrieval system 100 (for example, For example, the output station 160UT, where the outward pick-up surface from the array is configured to be filled between loads according to a predetermined order of loading and filling. In one aspect, the storage rack module RM and the robot 110 are configured such that the storage rack module RM and the robot 110 are combined to perform the classification in the operation of the mixed box picking surface, and are related to at least one of the throughput axes (or in the In other aspects, while transporting on at least one of each of more than one throughput axis, two or more picking surfaces are picked up from one or more storage spaces and filled according to a predetermined order of loading However, it is placed at one or more pick-up surface holding positions (for example, buffer stations and transfer stations BS, TS), which is different from the storage space 130S.

Store and retrieve the robot 110 and lifter model of the system 100 The group 150 and other suitable features are controlled in any suitable manner, such as, for example, by one or more central system control computers (such as a control server) 120 such as through any suitable network 180. In one aspect, the network 180 is a wired network, a wireless network, or a combination of wireless and wired networks using any suitable type and/or number of communication protocols. On the one hand, the control server 120 includes a collection of programs (such as system management software) that are running roughly at the same time to roughly automatically control the automatic storage and retrieval system 100. A collection of programs that are running roughly at the same time, for example, constitutes a management storage and retrieval system 100. For example, it includes: controlling, scheduling, and monitoring the activities of all active system components; managing inventory (such as importing and removing Which box unit, the order in which the box is to be removed, where the box unit is to be stored) and the pickup surface (for example, one or more box units that can be moved into a unit and manipulated into a unit by the components of the storage and retrieval system) ; And to form an interface with the warehouse management system 2500. For simplification and ease of explanation, the term "box unit(s)" is generally used here to refer to both individual box units and the pick-up surface (the pick-up surface is formed by multiple box units that move into one unit).

1B and 1D, the rack module array RMA of the storage structure 130 includes a vertical support 1212 and a horizontal support 1200, which define a high-density automatic storage array, as described in more detail below. The track 1200S may be installed in, for example, one or more vertical and horizontal supports 1212, 1200 in the picking channel 130A, and configured so that the robot 110 rides through the picking channel 130A along the track 1200S. At least one pick-up channel 130A of at least one storage level 130L may have One or more storage shelves arranged at different heights (for example, formed by rails 1210, 1200 and slats 1210S), so as to store or deck levels defined by transfer deck 130B (and rail 1200S forming the passage deck) Between 130L, multiple shelf levels 130LS1~130LS4 are formed. Accordingly, there are multiple rack shelf levels 130LS1 to 130LS4, which correspond to each storage level 130L and extend along one or more picking channels 130A communicating with the transfer deck 130B of the individual storage level 130L. As can be understood, the multiple rack shelf levels 130LS1~130LS4 realize each storage level 130L, which has a stack of storage box units (or box layers), which can be accessed from the common deck 1200S of the individual storage levels 130L ( For example, the stacking of storage boxes is between storage levels).

As can be understood, the robot 110 traversing the picking channel 130A has access to each storage space 130S in the corresponding storage level 130L (for example, for picking and placing box units), and the storage space is in each shelf level 130LS1~130LS4 The above is available, where each shelf level 130LS1~130LS4 is located between adjacent vertically stacked storage levels 130L on one or more sides PAS1, PAS2 of the picking channel 130A (see, for example, Figure 2A). As noted above, each storage shelf level 130LS1 to 130LS4 can be taken by the robot 110 from the rail 1200 (for example, from the common picking channel deck 1200S corresponding to the transfer deck 130B on the individual storage level 130L). As can be seen in Figures 1B and 1D, there are one or more intermediate shelf rails 1210, which are vertically (for example, in the Z direction) spaced apart (and spaced apart from the rail 1200) to form a multiple stacked storage space 130S, each of which can be Machine from common track 1200S Taken by robot 110. As can be understood, the horizontal support 1200 also forms a shelf rail (additional to the shelf rail 1210) on which the box unit is placed.

Each stacking shelf level 130LS1~130LS4 (and/or each single shelf level as described below) corresponding to the storage level 130L defines an open and undefined two-dimensional storage surface (for example, with a box unit support plane CUSP, such as Figure 1D), which is beneficial in longitudinal (for example, along the length of the channel, or coincident with the robot travel path defined by the picking channel) and lateral (for example, relative to the pylon depth, transverse to the channel or robot travel path) two To dynamically position the pickup surface. For example, the method of dynamically setting the pickup surface and the box unit constituting the pickup surface is described in US Patent No. 8,594,835 issued on November 26, 2013, the entire disclosure of which is incorporated herein by reference. For example, the controller (such as the controller 120) monitors the box units stored on the shelf and the empty spaces or storage locations between the box units. The empty storage location is dynamically positioned, for example, so that one box with the first size is replaced by three boxes (the latter all have a second size, which when combined is suitable for being placed in the box with the first size previously reserved Space) or vice versa. As the box unit is placed and removed from the storage shelf, the dynamic positioning substantially continuously readjusts the size of the empty storage position (for example, the storage position does not have a predetermined size and/or position on the storage shelf). In this way, the picking surface of the box unit (or carrier) of variable length and width is positioned at each two-dimensional storage position on the storage shelf (for example, on each storage shelf level 130LS1~130LS4), and adjacent There is a minimum gap G between the storage box unit/storage space (for example, it never touches Other box units stored on the shelf are used for picking/placement of box units, see Figure 1B).

As mentioned above, the spacing between the rails 1200, 1210 (such as storage shelves) is a variable spacing, so as to minimize the vertical gap VG between the vertical stacking box units (such as providing only enough headroom to separate Storage location to insert and remove box units). As will be described below (for example, with respect to the regions SECA and SECB of FIGS. 1B and 2A), on one hand, the vertical spacing between the tracks 1200, 1210 varies along the length of the individual pick-up channel 130A; on the other hand, The spacing between the tracks 1200, 1210 may be substantially continuous along the pickup channel 130A. As can be understood and described in more detail below, the spacing between the tracks 1200, 1210 on one side PAS1 (FIG. 2A) of the pick-up channel 130A can be different from that on the opposite side PAS2 (FIG. 2A) of the same pick-up channel 130A The interval between the tracks 1200 and 1210. As can be understood, any suitable number of shelves 1210 can be arranged between the decks 1200S of adjacent vertically stacked storage levels 130L, where the shelves have the same or different spacing between the shelves (for example, see Figure 1C, where the boxes The units CUD1, CUD2, CUE1~CUE3, CUF1, CUF2 are located in the vertical stack on one side of the picking channel, and the box units CUA, CUB, CUC are located in the vertical stack on the opposite side of the picking channel and have roughly similar Spaced storage shelves). In one aspect of the disclosed embodiment, referring to Fig. 1B, the vertical spacing between the rack shelf levels 130LS1~130LS4 (which corresponds to each storage level 130L) is changed, so the height between the shelves Z1A~Z1E Are different, not equal, for example, so that the box unit The vertical gap VG between the upper surface or top surface CUTS of the CU and the bottom of the storage shelves 1200 and 1210 directly above the box unit is minimized. As can be seen in Figure 1B, minimizing the gaps G and VG in the horizontal and vertical directions results in a tightly stacked box unit configuration in the storage shelf, thus forming a high-density three-dimensional rack array RMA. For example, , The high-density multi-level racking channel increases the throughput along the X throughput axis, and can order/sort two or more box units from the common pick-up channel in a common pass of the pick-up channel (for example, according to Predetermined loading order) multiple picking, as described below. For example, still referring to FIG. 1B, a SECB of the storage level 130L includes two storage shelves 1200, 1210, one of which has a spacing of Z1A and the other has a spacing of Z1B, where Z1A and Z1B are different from each other . The different spacing allows the box units CUD and CUE with different heights to be stacked on the common storage level 130L, one on top of the other. In other respects, the distances Z1A and Z1B may be approximately the same. In this regard, the storage level 130L includes another storage area SECA, which has three storage shelves, one of which has a spacing of Z1E, one has a spacing of Z1D, and the other has a spacing of Z1C, And Z1E, Z1D, Z1C are different from each other. In other respects, at least two of the distances Z1E, Z1D, and Z1C are substantially the same. On the one hand, the spacing between the shelves is configured such that the larger and/or heavier box units CUC, CUE are configured to be closer to the deck 1200S than the smaller and/or lighter box units CUD, CUA, CUB. In other respects, the spacing between the shelves is configured so that the box units are arranged in any suitable position, which may or may not be associated with the box list Element size and weight.

In other respects, the vertical spacing between at least some racks is the same, so at least the height between some shelves Z1A~Z1E is the same, while the vertical spacing between other shelves is different . In other respects, the spacing between the racks and shelves 130LS1~130LS4 at a certain storage level is a constant spacing (for example, the racks and shelves are roughly equally spaced in the Z direction), but in different storage levels The spacing of the rack shelf level 130LS1~130LS4 is different constant spacing.

On the one hand, the storage space(s) 130S defined by the storage shelf levels 130LS1~130LS4 between the storage or deck levels 130L can accommodate different heights, lengths, widths and/or weights at different shelf levels 130LS1~130LS4 For example, as described in U.S. Patent Application No. 14/966,978 filed on December 11, 2015 and U.S. Patent Provisional Application No. 62/091,162 filed on December 12, 2014, which disclose the entire And here as a reference. For example, still referring to FIG. 1B, the storage area included in the storage level 130L has at least one intermediate shelf 1210. In the illustrated example, one storage area includes one intermediate shelf 1210, and the other storage area includes two intermediate shelves 1210 to form shelf levels 130LS1 to 130LS4. In one aspect, the distance Z1 between the storage levels 130L can be any suitable distance, for example, about 32 inches to about 34 inches. In other aspects, the pitch may be greater than about 34 inches and/or less than about 32 inches. Any suitable number of shelves can be arranged between adjacent vertically stacked storage levels 130L deck 1200S, wherein the shelves have the same or different spacing between the shelves (see Figure 1C, for example, The units CUD1, CUD2, CUE1~CUE3, CUF1, CUF2 are located in the vertical stack on one side of the picking channel, and the box units CUA, CUB, CUC are located in the vertical stack on the opposite side of the picking channel and have roughly similar Spaced storage shelves).

In one aspect of the disclosed embodiment, the storage or deck level 130L (such as the surface on which the robot 110 travels) is arranged at any suitable predetermined interval Z1, which is not an integer of the intermediate shelf interval (s) Z1A~Z1E, for example. Times. In other aspects, the distance Z1 may be an integer multiple of the distance between the intermediate shelves. For example, the shelf distance may be approximately equal to the distance Z1, so that the height of the corresponding storage space is approximately equal to the distance Z1. As can be understood, the shelf spacing Z1A~Z1E is roughly decoupled from the spacing Z1 of the storage level 130L and corresponds to a general box unit height, as exemplified in FIG. 1B. In one aspect of the disclosed embodiment, box units of different heights are dynamically positioned or otherwise distributed along each channel in the storage space 130S having a shelf height commensurate with the height of the box units. Along the length of the channel coincident with the storage box unit (for example, in the X direction relative to the pylon reference frame REF2, where the X direction in the robot reference frame REF is the same as the robot traveling through the picking channel 130A) and along the storage box The remaining space between the two storage levels 130L on the side of the unit can be freely used for the dynamic positioning of the corresponding height box. As can be understood, the dynamic positioning of box units with different heights on shelves with different pitches provides storage box layers of different heights between the storage levels 130L on both sides of each picking channel 130A, and each box Units are dynamically distributed along the common pick-up channel 130A, so that each box unit in each storage box layer can be shared The robot in the road is used independently (for example, for pick/place). The high-density placement/configuration of box units and the configuration of storage shelves provide the maximum efficiency of storage space/volume usage between storage levels 130L, so the rack module array RMA has the maximum efficiency, and the box unit SKU is optimized. Distribution, because the length of each channel can include multiple box units of different heights, and each rack shelf at each shelf level can be filled by dynamic positioning/distribution (for example, filling three-dimensional hangers in length, width, and height) Rack module array RMA space to provide high-density storage array).

On the one hand, referring to FIGS. 1E and 6A, each storage level 130L includes a single-level storage shelf to store a single-level box unit (for example, each storage level includes a single box unit support plane CUSP), and the robot 110 is configured to transfer The box units go to and from the storage shelves of the individual storage levels 130L. For example, the robot 110' illustrated in FIG. 6A is roughly similar to the robot 110 described herein, however, the transfer arm 110PA of the robot 110' lacks sufficient Z travel to place the box unit in the multiple storage shelf level 130LS1~ 130LS4 (for example, it can be taken from the common track 1200S), as described above. Here, the transfer arm drive 250 (which may be substantially similar to one or more drives 250A, 250B) only includes enough Z travel to lift the box unit support plane CUSP from a single-level storage shelf to The box unit is transferred to and from the payload area 110PL, and the box unit is transferred between the finger 273 of the transfer arm 110PA and the payload bed 110PB. For example, a suitable example of the robot 110' can be found in US Patent Application No. 13/326,993 filed on December 15, 2011, the entire disclosure of which is incorporated herein by reference.

In one aspect of the disclosed embodiment, referring also to FIG. 2A, the rack shelf 1210 (including the rack shelf formed by the rail 1200) is longitudinally divided into SECA, SECB (for example, the length of the picking channel 130A along the X direction, and Relative to the storage structure reference frame REF2) to form a regular or otherwise matched rack shelf area along each picking channel 130A. For example, based on the picking order of the robot 110 traversing the aisle, the box unit is picked up by a common pass assigned to a common rule filling (for example, based on the order shipment order), and the aisle shelf areas SECA and SECB are regular /Match each other. In other words, the robot 110 makes a single pass along a single or common picking channel (for example, traversing in a single direction), and at the same time picks one or more from the channel shelf areas SECA, SECB on the common side of the picking channel 130A Each box unit is used to establish a pick-up surface on the robot 110, wherein the box units included in the pick-up surface are configured on the robot according to a regular filling/order shipment sequence, as described in more detail below. Each channel rack area SECA, SECB includes an intermediate shelf in the above-mentioned manner. In other respects, some aisle shelves do not include intermediate shelves, while others include intermediate shelves.

On one hand, the regular channel rack areas SECA and SECB include different shelf spacing between the areas SECA and SECB. For example, the racks in the channel rack area SECA have one or more spacings, while the racks in the channel rack area SECB have one or more different spacings (for example, different from the shelves of the SECA area). Spacing). According to many aspects of the disclosed embodiments, the spacing of at least one intermediate shelf in a channel rack area SECA and SECB is related to the distance between the common picking channel 130A Another regular distance between at least one middle shelf of the channel rack area SECA and SECB. The different spacings of the intermediate shelves 1210 of the regular channel rack areas SECA and SECB are selected so as to be related, and the robot 110 performs multiple operations from the shelves of different spacings and one common pass from the common picking channel 130A. (At least two) regular picking (that is, picking in order of order), which is based on the mixed SKU loading sequence (for example, palletization to a common pallet load). As can be understood, the mixed load output from the storage and retrieval system 100 (for example, to fill the truck loading port/pallet load) is based on various load out picking channels (for example, picking box units to transfer to the outgoing pallet channel) The ordering is based on predetermined rules, and the shelf spacing in the regular zones SECA and SECB facilitates the robot 110 to pick up more than one box unit (for example, More than one box unit is picked up from the common pick-up channel according to a predetermined rule in one pass of the common pick-up channel). The different channel shelf spacing of the regular rack areas SECA and SECB are related to increase the probability of multiple picking of this rule (a single pass through the channel to pick up two or more box units from a single channel, as described above ), so the multiple picking is executed by each robot order fulfillment along each lane, and so associated so that the robot 110 picks up in the storage and retrieval system 100 and assigns it to a common load out (for example, The common pallet load) of more than most boxes is picked up by the common robot 110 during a single pass through the common picking channel in the ordering sequence corresponding to the load-out sequence (for example, two or more The box is picked up from the same picking channel in a single pass Take, for example, once the robot passes through the picking channel, it travels in a single direction). As can be understood, in one aspect of the disclosed embodiment, both sides PAS1 and PAS2 of the picking channel 130A have regular channel rack areas SECA and SECB, and a certain regular area can match the same of the common picking channel 130A. One or more zones on the side PAS1, PAS2. As can be understood, the matching channel hanger areas may be positioned adjacent to each other or spaced apart from each other along the picking channel 130A.

Referring again to Figure 2A, each transfer deck or storage level 130L includes one or more lift pick-up surface interface/transfer station TS (herein referred to as interface station TS), where single or combined box pick-up surface (multiple A) The box unit or carrier is transferred between the lifter loading control device LHD and the robot 110 on the transfer deck 130B. The interface station TS is located on the side of the transfer deck 130B opposite to the picking channel 130A and the pylon module RM, so that the transfer deck 130B is inserted between the picking channel and each interface station TS. As noted above, each robot 110 on each picking level 130L has access to each storage location 130S, each picking channel 130A, and each lift 150 on the individual storage level 130L, so each robot 110 110 also has access to each interface station TS on the individual level 130L. On the one hand, the interface station is offset from the high-speed robot travel path HSTP along the transfer deck 130B, so that the robot 110's access to the interface station TS is an uncertain purpose for the robot speed on the high-speed travel path HSTP. In this way, each robot 110 can move the box unit(s) (or the pickup surface established by the robot, such as one or more boxes) from each interface station TS to the corresponding 130S for each storage space at the deck level, and vice versa.

On the one hand, the interface station TS is constructed between the robot 110 and the loading control device LHD of the lift 150 to passively transfer (for example, change hands) the box unit (and/or picking surface) (for example, the interface station TS has no moving parts for transportation Box unit), which will be described in more detail below. For example, referring also to FIG. 2B, the interface station TS and/or the buffer station BS includes one or more stacking levels TL1, TL2 of the transfer rack RTS (for example, so as to utilize the robot 110 relative to the stacking rack The lifting capacity of the RTS rack), on the one hand, is roughly similar to the storage racks described above (for example, each of them is formed by rails 1210, 1200 and slats 1210S), allowing the robot 110 to change hands (for example, pick and place) It occurs in a passive manner roughly similar to that between the robot 110 and the storage space 130S (as described herein), where the box unit or carrier is transferred to and from the shelf. On the one hand, the buffer stations BS on one or more stacking levels TL1 and TL2 also serve as transfer/interface stations with respect to the load handling device LHD of the lift 150. On the one hand, when a robot (such as the robot 110') is constructed to transfer the box unit to a single level 130L of storage shelves, the interface station TS and/or the buffer station BS also includes the single level of transfer racks (its Roughly similar to the storage rack shelf of storage level 130L described above with respect to, for example, FIG. 1D). As can be understood, the operation of the storage and retrieval system using the robot 110' to serve a single-level storage and transfer shelf is roughly similar to that described herein. As can also be understood, the loading handling device LHD transfers the box units (such as individual box units or picking surfaces) and the carriers (such as picking and placing) to the stacking rack rack RTS (and/or single-level rack racking) Rack) occurs in a passive manner roughly similar to that between the robot 110 and the storage space 130S (as described herein), where the box unit or carrier is transferred to and from the rack. In other respects, the shelf may include a transfer arm (which is roughly similar to the transfer arm 110PA of the robot 110 shown in FIG. 6, although the Z-direction movement may be omitted when the transfer arm is incorporated into the shelf of the interface station TS) to One or more robots 110 and a loading handling device LHD of the lift 150 pick up and place the box unit or carrier. A suitable example of an interface station with an active transfer arm is described, for example, in US Patent Application No. 12/757,354 filed on April 9, 2010, the entire disclosure of which is incorporated herein by reference.

On the one hand, the positioning of the robot 110 relative to the interface station TS occurs in a manner substantially similar to the positioning of the robot relative to the storage space 130S. For example, in one aspect, the positioning of the robot 110 relative to the storage space 130S and the interface station TS occurs in a manner similar to that of US Patent Application No. 13/327,035 (now US Patent No. 9,008,884) filed on December 15, 2011. No.) and No. 13/608,877 (now US Patent No. 8,954,188) filed on September 10, 2012, the entire disclosure of which is incorporated herein by reference. For example, referring to FIGS. 1 and 1D, the robot 110 includes one or more sensors 110S, which detect the slats 1210S or positioning features 130F (such as openings, reflective surfaces) arranged on/in the track 1200 , Radio Frequency Identification (RFID) tags......). The slats and/or positioning features 130F are configured to recognize the position of the robot 110 in the storage and retrieval system relative to, for example, the storage space and/or the interface station TS. In one aspect, the robot 110 includes a controller 110C, which for example The counting slats 1210S can at least partially determine the position of the robot 110 in the storage and retrieval system 100. In other respects, the position feature 130F may be configured to form an absolute or incremental encoder, which when detected by the robot 110 provides the position determination of the robot 110 in the storage and retrieval system 100.

As can be understood, referring to FIG. 2B, the transfer rack rack RTS of each interface/transfer station TS defines multiple loading stations (for example, one or more storage box unit holders) on the common transfer rack rack RS. Hold the position to hold the corresponding number of box units or carriers). As noted above, each load of the multiple loading station is a single box unit/carrier or multiple box picking surfaces (for example, with multiple box units/carriers, which move into a single unit), which is picked up by the robot or the loading control device LHD And place. As can also be understood, the aforementioned robot position allows the robot 110 to position itself relative to the multiple loading station to pick and place the box unit/carrier and picking surface from a predetermined holding position of the multiple loading station. The interface/transfer station TS defines multiple buffers (a buffer with one or more box manipulation positions, see FIG. 4B, and when the robot 110 forms an interface with the interface station TS, the buffers are, for example, along the X axis of the robot 110 Configuration), in which the inward and/or outward box units/carriers and picking surfaces are temporarily stored when transferred between the robot 110 and the loading handling device LHD of the lift 150.

On the one hand, one or more surrounding buffer/transfer stations BS (which are roughly similar to the interface station TS and are referred to herein as buffer stations BS) are also located on the transfer deck 130B relative to the picking channel 130A and the pylon module RM The transfer deck 130B is inserted between the pick-up channel and each buffer station BS. On the one hand, the surrounding buffer stations BS are scattered between the interface stations TS, as shown in FIGS. 2A and 2B, otherwise they are aligned with the interface stations TS. On the one hand, the surrounding buffer station BS is formed by rails 1210, 1200 and slats 1210S, and is a continuous (but separate area) of the interface station TS (for example, the interface station and the surrounding buffer station are made of common tracks 1210, 1200). Formed). In this way, on the one hand, the surrounding buffer station BS also includes one or more transfer racks RTS of stacking levels TL1 and TL2, as described above with respect to the interface station TS; on the other hand, the buffer station includes a single level Transfer the rack shelf. The peripheral buffer station BS defines a buffer in which box units/carriers and/or pick-up surfaces are temporarily stored when transferred from one robot 110 to another different robot 110 on the same storage level 130L, as described in more detail below. As can be appreciated, in one aspect, the peripheral buffer station is located at any suitable location of the storage and retrieval system, including anywhere in the picking channel 130A and along the transfer deck 130B.

Still referring to Figures 2A and 2B, on the one hand, the configuration of the interface station TS along the transfer deck 130B is similar to the parking space on the roadside, so that the robot 110 "parks side by side" at the predetermined interface station TS to transfer box units to and from On one or more shelves RTS at one or more levels TL1, TL2 at the interface station TS. On the one hand, the transfer direction of the robot 110 at the interface station TS (for example, when parking side by side) is the same as the direction when the robot 110 is traveling along the high-speed robot transport path HSTP (for example, the interface station is approximately parallel to the robot on the transfer deck. Direction and/or transfer deck above the side with lifter 150). 110 pairs of robots The interface formed by the surrounding buffer station BS also occurs by side-by-side parking, so the transfer direction of the robot 110 at the surrounding buffer station BS (for example, when parking side by side) is the same as when the robot 110 is traveling along the high-speed robot transportation path HSTP Of pointing.

On the other hand, referring to FIGS. 3A and 3B, at least the interface station TS is located on the extension part or dock 130BD extending from the transfer deck 130B. In one aspect, the dock 130BD is similar to a pick-up channel, in which the robot 110 travels along a track 1200S fixed to the horizontal support 1200 (in a manner generally similar to that described above). In other respects, the traveling surface of the dock 130BD may be substantially similar to the traveling surface of the transfer deck 130B. Each dock 130BD is located on one side of the transfer deck 130B, for example, the side opposite to the picking channel 130A and the pylon module RM, so that the transfer deck 130B is inserted between the picking channel and each dock 130BD. The dock(s) 130BD extends from the transfer deck at a non-zero angle relative to at least part of the high-speed robotic transport path HSTP. In other respects, the dock(s) 130BD extends from any suitable part of the transfer deck 130B, including the ends 130BE1, 130BE2 of the transfer deck 130BD. As can be understood, the peripheral buffer station BSD (which is substantially similar to the aforementioned peripheral buffer station BS) may also be located at least along part of the pier 130BD.

Referring now to FIGS. 4A, 4B, and 5, as described above, on the one hand, the interface station TS is a passive station, so the load transfer device LHD of the lifter 150A, 150B has an active transfer arm or pickup head 4000A, 4000B. On the one hand, the inward lift module 150A and the outward lift The module 150B has different types of pickup heads (described below); and in other respects, the inward lifter module 150A and the outward lifter module 150B have the same type of pickup head, which is similar to one of the following A pick-up head (for example, both lifters 150A and 150B have a pick-up head 4000A, or both lifters 150A and 150B have a pick-up head 4000B). The pick-up heads of the lifters 150A, 150B may at least partially define the Y throughput axis as described herein. On the one hand, both the inward and outward lift modules 150A, 150B have a vertical mast 4002, and the slider 4001 travels along this mast under the power of any suitable drive unit 4002D (for example, the drive unit For example, it is connected to the control server 120), and a lifting and lowering slider (and pickup heads 4000A and 4000B installed thereon) are constructed. The inward lifter module 150A includes a pickup head 4000A mounted on the slider 4001, so as the slider moves vertically, the pickup head 4000A and the slider 4001 move vertically. In this regard, the pickup head 4000A includes one or more prongs or fingers 4273 mounted on the base member 4272. The base member 4272 is movably mounted on one or more rails 4360S of the frame 4200, which in turn is mounted on the slider 4001. For example, belt drive, chain drive, screw drive, gear drive...any suitable drive unit 4005 (its form is roughly similar but the capacity may not be similar to the drive 4002D, because the drive 4005 can be smaller than the drive 4002D) installed in The frame 4200 is coupled to the base member 4272 to drive the base member 4272 in the direction of the arrow 4050 (with the finger(s)).

(Multiple) Outer lift module 150B also includes The pickup head 4000B of the actuator 4001, so as the slider moves vertically, the pickup head 4000B and the slider 4001 move vertically. In this regard, the pickup head 4000B includes one or more pickup head parts or effects (such as transfer arms) LHDA, LHDB, each having one or more prongs or fingers mounted on an individual base member 4272A 4273. Each base member 4272A is movably mounted on one or more rails 4360SA of the frame 4200A, which in turn is mounted on the slider 4001. For example, belt drive, chain drive, screw drive, gear drive...any suitable drive unit(s) 4005A is mounted on the frame 4200A and coupled to the individual base member 4272A in the direction of arrow 4050 (in the direction of arrow 4050). (Multiple) fingers) to drive the individual base member 4272A (each effector has an individual drive unit, so that each effector can move independently in the direction of arrow 4050). Although the two effectors LHDA and LHDB are demonstrated on the pickup head 4000B, the pickup head 4000B includes any suitable number of effectors, which corresponds to, for example, the number of box units/pickup surface holding positions of the interface station TS, so the box unit /Pickup surface is individually picked from the interface station TS, as described in more detail below.

As can be understood, the lifter modules 150A, 150B are under the control of any suitable controller (for example, the control server 120), so that when picking and placing the box unit(s), the picking head is raised and /Or lowered to a predetermined height corresponding to the interface station TS at the predetermined storage level 130L. As can be understood, the lift module 150A, 150B provides the Z throughput axis of the storage and retrieval system (relative to both the robot reference frame REF and the pylon reference frame REF2), wherein the output lift module 150B In the operation, the box units are classified to be delivered to the output station 160US, as will be described below. In the interface station TS, the picking heads 4000A, 4000B or individual parts thereof (such as the effector LHDA, LHDB) corresponding to one or more of the box unit holding positions of the interface station TS (one or more box units are picked up by this) ) Is an extension, so that the fingers 4273 intersect between the slats 1210S (as demonstrated in Figure 4B) and are under the box unit(s) being picked. The lifters 150A, 150B raise the pickup heads 4000A, 4000B to lift the box unit(s) from the slat 1210S, and retract the pickup heads 4000A, 4000B to transport the box unit(s) to the storage and retrieval system. One level, such as transporting the box unit(s) to the output station 160UT. Similarly, in order to place one or more box units, the picking heads 4000A, 4000B or the like corresponding to one or more box unit holding positions of the interface station TS (the one or more box units are picked up by this) The individual parts (such as the effector LHDA, LHDB) are extended, so the finger 4273 is above the slat. The lifters 150A, 150B lower the pickup heads 4000A, 4000B to place the box unit(s) on the slats 1210S, so that the fingers 4273 are intersected between the slats 1210S and are picked up (multiple) ) Below the box unit.

Referring now to FIG. 6, as noted above, the robot 110 includes a transfer arm 110PA, which performs transfer from the stacking storage space 130S, the interface station TS, the peripheral buffer station BS, BSD (which is at least partially composed of one or more rails 1210A in the Z direction). ~1210C, 1200) the picking and placement of the box unit (for example, the storage space, interface station and/or surrounding buffer station can be relative to the pylon reference frame REF2 or the robot reference frame REF And through the dynamic positioning of the box unit to further define the X and Y directions, as described above). As can be understood, the robot defines the X throughput axis and at least part of the Y throughput axis (for example, relative to the robot reference frame REF), as will be further described below. As noted above, the robot 110 transports box units between each lift module 150 and each storage space 130S on the individual storage level 130L. The robot 110 includes a frame 110F, which has a driving area 110DR and a payload area 110PL. The drive area 110DR includes one or more drive wheel motors, each connected to an individual drive wheel(s) 202 to propel the robot 110 along the X direction (relative to the robot reference frame REF, so as to define X throughput Axis). As can be understood, when the robot 110 travels through the picking channel 130A, the X axis of the robot travel coincides with the storage position. In this regard, the robot 110 includes two driving wheels 202 located on opposite sides of the robot 110 and at the end 110E1 (such as the first longitudinal end) of the robot 110 to support the robot 110 on a suitable driving surface; however, In other respects, any suitable number of driving wheels are provided on the robot 110. On the one hand, each driving wheel 202 is independently controlled, so that the robot 110 can steer through the differential rotation of the driving wheel 202; on the other hand, it can be coupled with the rotation of the driving wheel 202 so as to be at approximately the same speed. Spin. Any suitable wheel 201 is mounted on the frame on the opposite side of the robot 110, at the end 110E2 (such as the second longitudinal end) of the robot 110 to support the robot 110 on the driving surface. On one hand, the wheel 201 is a freely rotating universal wheel, which allows the robot 110 to pivot through the differential rotation of the driving wheel 202 to change the traveling direction of the robot 110. to. In other respects, the wheel 201 is a steerable wheel that is steered under the control of, for example, the robot controller 110C (which is configured to control the robot 110, as described herein) to change the traveling direction of the robot 110. In one aspect, the robot 110 includes one or more guide wheels 110GW, which, for example, are located at one or more corners of the frame 110F. The guide wheel 110GW may form an interface with the storage structure 130 on the transfer deck 130B and/or at an interface or transfer station, for example, an interface with a guide rail (not shown) in the picking channel 130A to form an interface with the lift module 150 The guiding robot 110 and/or the positioning robot 110 are at a predetermined distance from the position of placing and/or picking up one or more box units, for example, as US Patent Application No. 13/326,423 filed on December 15, 2011 No. mentioned, the disclosure of the whole and here for reference. As noted above, the robot 110 can enter the picking channel 130A with different facing directions to access the storage space 130S located on both sides of the picking channel 130A. For example, the robot 110 may enter the picking channel 130A and use the end 110E2 to guide the travel direction; or the robot may enter the picking channel 130A and use the end 110E1 to guide the travel direction.

The payload area 110PL of the robot 110 includes a payload bed 110PB, a fence or reference piece 110PF, a transfer arm 110PA, and a push rod or piece 110PR. In one aspect, the payload bed 110PB includes one or more rollers 110RL, which are mounted on the frame 110F laterally (for example, relative to the longitudinal axis LX of the robot 110), so that one or more of the rollers carried in the payload area 110PL Each box unit can move longitudinally along the longitudinal axis of the robot (for example, relative to the predetermined position of the frame/payload area and/or the reference of one or more box units Align by reference), for example, position the box units at a predetermined position in the payload area 110PL and/or relative to other box units in the payload area 110PL (for example, the longitudinal front/rear of the box units are aligned). On the one hand, the drum 110RL can be driven by any suitable motor (for example, rotating around its individual axis) to move the box unit in the payload area 110PL. In other aspects, the robot 110 includes one or more longitudinally movable push rods (not shown) to push the box unit on the drum 110RL to move the box unit(s) to a predetermined position in the payload area 110PL. The longitudinally movable push rod may be substantially similar to, for example, the one described in US Patent Application No. 13/326,952 filed on December 15, 2011, the disclosure of which is previously incorporated in its entirety by reference. The propulsion rod 110PR is movable in the Y direction (relative to the reference frame REF of the robot 110) to carry out with the pick-up head 270 of the fence 110PF and/or the transfer arm 110PA (multiple) box units are in the payload area 110PL The method of lateral alignment is described in U.S. Provisional Application No. 62/107,135 filed on January 23, 2015, which is previously incorporated by reference in its entirety.

Still referring to FIG. 6, the box unit is placed on and removed from the payload bed 110PB with the transfer arm 110PA along the Y throughput axis. The transfer arm 110PA includes a lifting mechanism or unit 200 roughly located in the payload area 110PL, which is, for example, as described in U.S. Provisional Application No. 62/107,135 filed on January 23, 2015, which was previously incorporated in its entirety. Take it as a reference here. The lifting mechanism 200 provides both coarse and fine positioning of the picking surface carried by the robot 110 to be vertically lifted to the position in the storage structure 130 to pick up and/or place the picking surface and/or individual box units in the storage space 130S (for example, on the individual storage level 130L where the robot 110 is located). For example, the lifting mechanism 200 provides multiple elevated storage shelf levels 130LS1~130LS4, TL1, TL2 that can be accessed from a common pick-up channel or interface station deck 1200S (see Figures 1B, 2B, 3B, for example) To pick and place box units.

The lifting mechanism 200 is constructed so as to perform the combined robot axis movement (for example, the propulsion rod 110PR, the lifting mechanism 200, the pick-up head extension, such as the aforementioned longitudinally movable propulsion rod (multiple) front/rear alignment mechanism approximately simultaneously The combined move), so the different/multiple SKU or multiple pickup payloads are manipulated by the robot. In one aspect, the actuation of the lifting mechanism 200 is independent of the actuation of the push rod 110PR, as will be described below. The decoupling of the axis of the lifting mechanism 200 and the propulsion rod 110PR provides a combined pick/place sequence, which can reduce the pick/place cycle time, increase the throughput of the storage and retrieval system, and/or increase the storage of the storage and retrieval system Density, as described above. For example, the lifting mechanism 200 provides multiple levels of elevated storage shelves that can be accessed from a common picking channel and/or interface station deck 1200S to pick and place box units, as described above.

The lifting mechanism can be constructed in any suitable manner, so that the pickup head 270 of the robot 110 moves bidirectionally along the Z axis (for example, reciprocating in the Z direction, see FIG. 6). In one aspect, the lifting mechanism includes a mast 200M, and the pick-up head 270 is movably mounted on the mast 200M in any suitable manner. The mast is movably mounted on the frame in any suitable manner, so as to be movable along the side axis LT of the robot 110 (for example, in the Y direction, so as to define the Y throughput axis). On the one hand, The frame includes guide rails 210A and 210B, and the mast 200 is slidably installed here. The transfer arm drivers 250A, 250B can be installed on the frame to move the transfer arm 110PA at least along the lateral axis LT (such as the Y axis) and the Z axis. In one aspect, the transfer arm driver 250A, 250B includes an extension motor 301 and a lifting motor 302. The extension motor 301 can be mounted on the frame 110F and coupled to the mast 200M in any suitable manner, such as by a belt and pulley drive 260A, a screw drive drive (not shown), and/or a gear drive drive (not shown) To couple. The lift motor 302 can be mounted on the mast 200M and coupled to the pickup 270 by any suitable transmission, such as a belt and pulley transmission 271, a screw drive transmission (not shown) and/or a gear drive transmission (Not shown) to couple. For example, the mast 200M includes guides, such as guide rails 280A, 280B, and the pick-up head 270 is installed along the guide rails 280A, 280B to guide movement in the Z direction along the guide rails 280A, 280B. In other respects, the pickup head is mounted on the mast in any suitable manner to guide the movement in the Z direction. Compared with the transmission 271, the belt 271B of the belt and pulley transmission 271 is fixedly coupled to the pickup head 270, so as the belt 271 moves (for example, driven by the motor 302), the pickup head 270 moves along with the belt 271 The driving rails 280A and 280B are bidirectionally driven in the Z direction. As can be understood, when the screw driver is used to drive the pickup head 270 in the Z direction, the nut can be installed on the pickup head 270, so as the screw is rotated by the motor 302, the engagement between the nut and the screw makes the pickup The head 270 moves. Similarly, in the case of a gear drive transmission, the rack and pinion or any other suitable gear drive can be in the Z direction Drive the pickup 270. In other respects, any suitable linear actuator is used to move the pickup head in the Z direction. The transmission 260A for the extension motor 301 is generally similar to that described herein with respect to the transmission 271.

Still referring to FIG. 6, the pickup head 270 of the robot 110 is in the pickup/placement position of the robot 110 and the box unit (for example, the storage space 130S, the surrounding buffer station BS, BSD and/or the interface station TS) (see FIGS. 2A~3B) The box unit is transferred between, and in other aspects, the box unit is transferred roughly directly between the robot 110 and the lift module(s) 150. In one aspect, the pickup head 270 includes a base member 272, one or more prongs or fingers 273A-273E, and one or more actuators 274A, 274B. The base member 272 is mounted on the mast 200M, as described above, so as to ride along the guide rails 280A, 280B. One or more prongs 273A~273E are mounted on the base member 272 at the proximal end of the prongs 273A~273E, so that the distal end (such as the free end) of the prongs 273A~273E is overhanging from the base member 272 . Referring to FIG. 1D again, the tines 273A to 273E are configured to be inserted between the slats 1210S forming the support plane CUSP of the box unit of the storage shelf.

One or more prongs 273A-273E are movably mounted on the base member 272 (for example, on a slider/rail similar to the above), so as to be movable in the Z direction. In one aspect, any number of prongs are mounted on the base member 272; and in the aspect illustrated in the figure, for example, there are five prongs 273A to 273E mounted on the base member 272. Any number of tines 273A to 273E are movably mounted on the base member 272; and the aspect illustrated in the figure, for example, the outermost (relative to the pick-up head) For the center line CL of 270) the fork teeth 273A, 273E are movably mounted on the base member 272, and the remaining fork teeth 273B to 273D are not movable relative to the base member 272.

In this regard, the pickup head 270 uses as few as three prongs 273B~273D to transfer smaller-sized box units (and/or grouped box units) to and from the robot 110, and as many as five prongs 273A~ 273E to transfer larger-sized box units (and/or groups of box units) to and from the robot 110. In other respects, less than three prongs (for example, more than two prongs are movably mounted on the base member 272) are used to transfer smaller-sized box units. For example, on one hand, all but one tines 273A to 273E are movably mounted on the base member, so that it transfers to and from the robot 110 without disturbing the smallest box unit such as other box units on the storage shelf , Its width is about the distance X1 between the slats 1210S (see Figure 1D).

The non-movable tines 373B-373D define the pickup plane SP of the pickup head 270 and are used when transferring all sizes of box units (and/or the pickup surface); while the movable tines 373A, 373E are relative to the non-movable The fork teeth 373B~373D are selectively raised and lowered (for example, in the Z direction with actuators 274A and 274B) to transfer larger box units (and/or picking surfaces). Still referring to FIG. 6, the example shown is that all the prongs 273A to 273E are positioned so that the box unit support surface SF of each prong 273A to 273E coincides with the pickup plane SP of the pickup head 270; however, as can be understood, The two end prongs 273A, 273E are movable so as to be positioned lower relative to the other prongs 273B-273D (for example, in Z Direction), so that the box unit support surface SF of the tines 273A, 273E is offset from the pickup plane SP (for example, below), so that the tines 273A, 273E do not contact one or more boxes carried by the pickup head 270 Units, and does not interfere with any unpicked box units located in the storage space 130S on the storage shelf or any other suitable box unit holding position.

The movement of the fork teeth 273A-273E in the Z direction is performed by one or more actuators 274A, 274B installed at any suitable position of the transfer arm 110PA. In one aspect, one or more actuators 274A, 274B are mounted on the base member 272 of the pickup head 270. The one or more actuators are any suitable actuators (such as linear actuators), which can move one or more prongs 273A-273E in the Z direction. For example, in the aspect illustrated in FIG. 6, each movable fork 273A, 273E has an actuator 274A, 274B, so that each movable fork is independently movable in the Z direction. In other respects, an actuator can be coupled to more than one movable tines, so that more than one movable tines move in the Z direction as a unit.

As can be understood, one or more prongs 273A to 273E are movably installed on the base member 272 of the pickup head 270 to provide complete support for the large box unit and/or the pickup surface on the pickup head 270, and at the same time It also provides the ability to pick and place small box units without interfering with other box units positioned on, for example, storage shelves, interface stations and/or peripheral buffer stations. The ability to pick up and place variable-size box units without interfering with other box units on storage shelves, interface stations, and/or surrounding buffer stations reduces the size of the gap GP between box units on the storage shelves ( See Figure 1B). As you can It is understood that because the tines 273B~273D are fixed to the base member 272, the lifting and lowering of the box unit and/or the picking surface to and from the box unit holding position is performed by the lifting motors 301 and 301A alone. Then there is no repeated movement when picking/placement of the box unit.

Referring again to FIG. 6, note again that the push rod 110PR can move independently of the transfer arm 110PA. The push rod 110PR is movably mounted to the frame in any suitable manner (for example, such as a guide rod and slider configuration), and is movably installed in the Y direction (for example, approximately parallel to the extension/contraction direction of the transfer arm 110PA) Direction) and actuated. In one aspect, at least one guide rod 360 is installed in the payload area 110PL so as to extend laterally with respect to the longitudinal axis LX of the frame 110F. The propulsion rod 110PR may include at least one sliding member 360S configured to engage and slide along the individual guide rod 360. In one aspect, at least the guide rod/slider configuration confines the push rod 110PR to the payload area 110PL. The propulsion rod 110PR is actuated by any suitable motor and transmission, such as the motor 303 and the transmission 303T. In one aspect, the motor 303 is a rotary motor, and the transmission 303T is a belt and pulley transmission. In other aspects, the propulsion rod 110PR may be actuated by a linear actuator having substantially no rotating member.

The push rod 110PR is arranged in the payload area 110PL so as to be substantially perpendicular to the drum 110RL, and in this way, the push rod 110PR does not interfere with the pickup head 270. As shown in FIG. 10B, the robot 110 is in a transportation configuration, in which at least one box unit is supported on the roller 110RL (for example, the rollers are combined to form a payload bed). In the transportation configuration, the fork tines 273A~273E of the pick-up head 270 are intersected with the roller 110RL and (along the Z direction) are located The box unit of the drum 110RL is under the supporting plane RSP (see Figure 10). The propulsion rod 110PR is constructed with slits 351 (Figure 10C), and the tines 273A~273E pass through these slits. The slit 351 is provided with sufficient clearance to allow the tines to move under the box unit support plane RSP and allow The push rod 110PR moves freely without being interfered by the fork teeth 273A~273E. The push rod 110PR also includes one or more openings through which the drum 110RL passes. The openings are sized to allow the drum to rotate freely about its individual axis. As can be understood, the independently operable push rod 110PR does not interfere with the extension of the roller 110PR, the extension of the transfer arm 110PA in the lateral direction (such as the Y direction), and the lifting/lowering of the pickup head 270.

As noted above, because the propulsion rod 110PR is a separate and independent axis of the robot 110, and its operation is not interfered by the extension and lifting axis of the pick-up head 270, the propulsion rod 110PR can be operated substantially in line with the lifting and/ Or extend at the same time. The combined axis movement (such as simultaneous movement of the extension and/or lifting axis of the propulsion rod 110PR and the transfer arm 110PA) provides increased payload handling throughput along the Y throughput axis, and in a common pass of the pickup channel Perform regular (for example, according to a predetermined loading order) multiple picking of two or more box units from a common picking channel. For example, referring to Figures 10 and 10A, during the multiple pick/place sequence of the transfer arm 110PA, the push rod 110PR is pre-positioned (as the box unit(s) and/or the picking surface are being picked up and transferred to the reward In the loading area 110PL) to a predetermined distance from the contact depth X3 (for example, the depth of the tines occupied when the box unit(s) and/or the picking surface CU are picked/placed from the storage space or other box unit holding positions) The location of X2 (Figure 14 blocks 1100). The distance X2 is the minimized distance, which only allows sufficient clearance between the push rod 110PR and the box unit(s) to allow the box unit(s) to sit on the drum 110RL. As the box unit(s) CU is lowered onto the drum 110RL (block 1110 in Figure 14), when compared to the conventional transport vehicle from the rear side 402 of the payload area 110PL (relative to the lateral and fetching of the payload area 110PL) When the distance X4 moved by the side 401) is used, the distance that the push rod 110PR travels to contact the box unit CU(s) is a shorter distance X2. When the box unit(s) CU is lowered by the transfer arm 110PA and transferred to the roller 110RL so as to be independently supported by the roller 110RL, the push rod 110PR is actuated forward (with respect to the lateral and access of the payload area 110PL) Side 401) align the box unit(s) CU (Figure 14 block 1120). For example, the push rod 110PR can push the box unit(s) CU laterally in the Y direction, so that the box unit(s) contact the fence 110PF (which is located at the access side 401 of the payload area 110PL, so Then the box unit reference datum can be formed through the contact between the box unit(s) CU and the fence 110PF). In one aspect, the push rod 110PR can engage or otherwise grasp the box unit(s) CU during transportation of the box unit (for example, to maintain the box unit(s) against the fence 110PF) to maintain the box unit(s) ) The box units CU and the reference frame REF of the robot 110 (FIG. 6) are in a predetermined spatial relationship (FIG. 14 block 1130 ). When placing the box unit(s), the push rod 110PR after aligning the box unit(s) CU against the fence 110PF is withdrawn from contacting the box unit(s) CU (for example, in the Y direction) (Figure 14 blocks 1140). Approximately immediately after the push rod 110PR decouples the box unit(s) CU, the transfer arm One or more of the lifting axis (for example, in the Z direction) and the extension axis (for example, in the Y direction) of the 110PA are actuated approximately simultaneously with the retracting movement of the propulsion rod 110PR (Figure 14 box 1150). On the one hand, when the propulsion rod is withdrawn from the contact box unit(s) CU, both the lift and extension axes are activated; on the other hand, one of the lift and extension axes is activated. As can be understood, the lifting axis and/or extension axis of the transfer arm 110PA move simultaneously with the withdrawal of the push rod 110PR, and the distance of the pusher movement to line up the box unit(s) CU is reduced, thereby reducing the transfer ( The multiple) box units CU take the time required to travel to the robot 110 and increase the throughput of the storage and retrieval system 100.

As described herein, referring to FIGS. 2A and 2B, each robot 110 is configured to transport the picking surface between the picking channel 130A and the transfer/transfer station TS and the buffer station BS. As can be understood, on the one hand, each robot 110 is constructed at a first picking surface interface station (such as transfer/transfer station TS and/or buffer station BS) and a second picking surface interface station (such as with the first picking surface The interface station separates the transfer/transfer station TS and/or the buffer station BS) to transport the picking surface; wherein as described herein, the robot 110 picks up the first picking surface from the first interface station, traverses the transfer deck 130B, Place/buffer the first pick-up surface (or at least part of it) at the interface position of the second pick-up surface, so that the second pick-up surface interface station has multiple pick-up surfaces, which are ordered according to the predetermined ordering order of the mixed box pick-up surface The order of the pick-up surface is buffered on the common support/surface CS. As will be described below, the robot 110 is configured to transfer from the picking channel 130A (or transfer station TS or buffer station BS) the first picking surface with any suitable number of box units. PCF1, and place the second picking surface PCF2 different from the first picking surface PCF1 on the common surface CS of the transfer/transfer station TS (or buffer station BS) (for example, the common surface CS of the rack shelf RTS), It is common to both the robot 110 and the lifter 150B. As will also be described below, in one aspect, the first and second pickup surfaces have at least one box unit, which is common to both the first and second pickup surfaces. On the one hand, as described herein, the robot 110 is configured to perform operations in multiple pick/place sequences (for example, during traversing, such as when the robot is moving) from the first picking position in the picking channel 130A. A first picking surface (for example, at least one of the multiple picking surfaces) is established, and the second picking surface is placed at the transfer/transfer station TS (or buffer station BS). On the other hand, the robot 110 is configured to perform operations in multiple pick/place sequences (for example, during traversing, such as when the robot is stationary at the second picking surface interface station or the second picking surface interface station to buffer) from the first The picking position is used to establish the first picking surface (for example, at least one of the multiple picking surfaces placed on the common surface CS) to the transfer/transfer station TS (or buffer station BS). As can be understood, on the picking surface, for example, the robot 110 picks up from the first picking surface interface station (for example, the transfer station TS or the buffer station BS) and places it in the second picking surface interface station (for example, another transfer station TS or the buffer station). In the case of BS), the pickup surface is skipped for storage (for example, it is not placed in the storage space 130S before being transferred to the second pickup surface interface station). In other respects, at least part of the picking surface picked up from the first picking surface interface station is placed in the storage space 130S by the robot 110 (for example, in the storage rack array RMA) before being transported to the second picking surface interface station.

The controller 110C of the robot 110 is constructed to perform on-line operations Establish the first picking surface (or any other picking surface picked up by the robot 110). In one aspect, as described herein, the robot 110 is configured to establish a pick-up surface on the robot 110, for example, in the payload area 110PL, where the box unit/pick-up surface is picked up by the robot and in a predetermined rule or order. To be deployed in the payload area. On the one hand, the robot 110 is also configured to pick up/create a picking surface PCF3 that is different from the first picking surface PCF1, and place the different picking surface PCF3 on the shelf of the transfer/transfer station TA (or buffer station BS) (for example Another rack shelf (RTS) stacked on or below the rack shelf forming the common surface CS). The robot 110 includes box manipulation, as described herein, and is configured to pick up the second picking surface PCF2 (from the box unit forming a different picking surface PCF3) from the rack shelf RTS, and place the second picking surface PCF2 on the common On the surface CS. As can be understood, in one aspect, the lifter 150B is configured to pick up the second picking surface PCF2 from the transfer/transfer station TS. In other respects, as described herein, the lifter 150 is configured to pick up the third pick from the common surface CS of the transfer/transfer station TS (or buffer station BS) (for example, the common surface of the rack transfer shelf RTS) Face PCF4, where the third pickup face PCF4 is different from the first and second pickup faces PCF1, PCF2, and the common box is common to the first, second, and third pickup faces PCF1, PCF2, PCF4. As can be understood, the second interface station (for example, the transfer station TS or the buffer station BS) forms a common pickup surface transfer interface for the lift 150, so that the common support pickup surface is common to the lift 150 for picking . Note that the ability of the lifter 150 to pick up individual pick-up surfaces from different deck levels (as noted above) then classifies the pick-up surfaces on the Z throughput axis.

In one aspect of the disclosed embodiment, as can be understood, in a multiple pick/place sequence, multiple box units are carried and manipulated in the payload area 110PL approximately at the same time (for example, so as to form one or more pickup surfaces ) To further increase the throughput of the storage and retrieval system 100 and perform multiple pick/place sequences according to the predetermined order shipment sequence. Referring also to FIG. 1, the robot receives pick and place commands from the control server 120 (and/or the warehouse management system 2500), for example, and the robot controller 110C executes those commands to form a regular multiple pick. Here, the robot 110, for example, enters the common passage 130A1 from the transfer deck 130B to make a single or common passage through the picking passage 130A1; during this time, the robot 110 picks up two or more boxes according to a predetermined order shipment sequence Unit (Figure 15 block 1201A). In one aspect, the manipulation of the box unit CU is the classification of the box unit (in other words, picking and placing the box unit according to a predetermined load-out sequence), where the box is positioned on the transfer arm 110PA to pick/place the box unit; and/or positioned as The box unit is not transferred and maintained on the transfer arm 110PA, while other box units are transferred to and from the transfer arm 110PA. Here, the robot 110 travels in the direction of arrow XC, passes through the common picking channel 130A1, and stops in the predetermined storage space 130S1 according to the predetermined order delivery sequence, where the robot 110 uses the common transfer arm 110PA to move from the predetermined storage space. 130S1 to pick up one or more box units, where the placement of the box units on the common transfer arm 110PA corresponds to the predetermined order delivery sequence, as described in more detail below (for example, the box unit is in operation (for example, during transportation) ) Is classified by the robot 110).

Take an example of box manipulation on the robot 110. See also See Figures 10B~10E, the box unit CUA can be picked up from the holding position of the box unit (for example, from the storage space 130S in the common picking channel to perform the desired multiple picking; and in other respects, picking from the position Transfer the lift interface station TS and/or the box unit buffer station BS in the passage or on the deck, and transfer to the payload area 110PL (Figure 15 block 1201B). As the box unit(s) CUA is being transferred to the payload area 110PL, the propulsion rod 110PR can be pre-positioned (block 1204 in Figure 15) adjacent to the fence 110PF, so when the box unit(s) CUA is lowered to When transferring to the roller 110RL, the push rod 110PR is positioned between the box unit(s) CUA and the fence 110PF (Figure 15 block 1205). The push rod 110PR is actuated to push the box unit CUA (which stays on the drum 110RL) toward the back (for example, the back) 402 of the payload area 110PL in the Y direction, so that the box unit CUA contacts The alignment surfaces 273JS of the prongs 273A-273E (FIG. 10) are aligned on the back 402 of the payload area 110PL (block 1210 in FIG. 15).

On the one hand, according to the predetermined order delivery sequence, the robot 110 then traverses the common picking channel 130A1 in the same direction XC (for example, in this way, all the box units are picked up by a regular multiple picking by the robot traveling in a single direction. 110 is picked up during the common passage of the picking channel), and stopped in another predetermined storage space 130S. As noted above, during the transportation of the box unit(s) between the box unit holding positions, the push rod 110PR is maintained in contact with (for example, grasping) the box unit(s) CUA, and then the box(s) Unit CUA relative to robot With reference to the frame REF, 110 is maintained at a predetermined position on the back 402 (and/or at a predetermined longitudinal position) of the payload area 110PL (Figure 15 block 1215). For example, in order to pick up consecutive box units from the other storage space 130S2 of the common pick-up channel 130A1, the push rod 110PR moves in the Y direction to decouple the box unit(s) CUA, and actuates the movement of the transfer arm 110PA Lift and extend the axis to retrieve other box unit(s) CUB from other storage space 130S2 (or in other respects, from, for example, the lift/transfer interface station TS and/or buffer/transfer station BS, as noted above ) (Block 1220 in Figure 15). While the box unit(s) CUB is being picked up, the push rod 110PR is positioned in the Y direction adjacent to the back 402 of the payload area 110PL, so as to be positioned on the lined surface of the box unit CUA and the prongs 273A~273E 273JS (Figure 15 block 1225). The box unit CUB (multiple) is transferred to the payload area and lowered/placed on the drum 110RL (block 1230 in FIG. 15), so that the box units CUA and CUB are arranged along the Y axis with each other. Actuate the push rod 110PR in the Y direction to push the box units CUA, CUB toward the fence 110PF to line up the box units CUA, CUB forward (Figure 15 box 1234), and grasp/hold the box units CUA, CUB to For transportation (block 1235 in Figure 15). As can be understood, on the one hand, the box units CUA and CUB are placed together in the holding position of the box unit to form a unit; on the other hand, the box units CUA and CUB are classified, such as being transported to and placed in a common box unit The separation position of the holding position or the holding position of a different box unit (Figure 15 block 1240), as described in more detail below. For example, referring also to Figs. 7-9, the robot 110 carrying regular multiple pickup payloads will have as many regular The re-picked box units are transferred to one or more interface stations TS (which include buffer shelves 7000A~7000L) corresponding to the output lifts 150B1, 150B2.

As can be understood, on the one hand, when the robot 110 "parks side by side" into the interface station TS (Figure 7) or transfers to the dock 130BD (Figure 8), the high-speed robot travel path HSTP ( The spacing between the robots on FIG. 2A) allows the robot that forms an interface with the interface station TS to slow down and transfer to the interface station TS without substantially no interference from another robot 110 traveling along the transfer deck 130B and/ Or interfere with it. In other respects, the robot traveling on the transfer deck can drive the robot that bypasses the transfer interface station, because the transfer deck(s) 130B are generally open and configured for the robot 110 to traverse and follow indefinitely ( Multiple) transfer deck 130B, as described above. For example, in the case where the multi-pick box unit is placed on the interface of the lifts 150B1 and 150B2/the common buffer shelf of the transfer station 7000A~7000L, the robot 110 sets the first box unit CUB (for example, its Corresponding to the pickup surface 7 of FIG. 9, which in this example includes a single box unit) is placed in the first position of the buffer shelf 7000B, and the second box unit CUA (for example, it corresponds to the pickup surface 5 of FIG. , Which in this example includes a single box unit) is placed in the second position of the buffer shelf 7000B. In the case that the multi-pick box unit is placed in the common box unit holding position, the robot 110 places the two box units CUA and CUB as units (such as the picking surface) in the common position of the buffer shelf 7000A (for example , Which corresponds to the pickup surface 9 in Figure 9, which in this example includes Including two box units).

In the case where the box units CUA and CUB are classified (Figure 15 box 1250) to be placed in separate positions of the common box holding position or in different box holding positions, the box units CUA and CUB are mutually in the payload area 110PL separate. For example, the pick-up head 270 of the transfer arm 110PA can move in the Z direction to lift the box units CUA and CUB from the roller 110RL to an amount sufficient to allow the propelling rod 110PR to pass under the box unit(s) (Figure 16 block 1250A) ). As the box units CUA and CUB are lifted, the propulsion rod 110PR is positioned along the Y direction so as to be located between the box units CUA and CUB (see Figure 10E) (Figure 16 block 1250B). Lower the pick-up head 270, so that the box units CUA and CUB are transferred to the roller 110RL, and in this way, the push rod is inserted between the box units CUA and CUB (Figure 16 block 1250C). The propulsion rod 110PR moves in the Y direction (for example, to separate the box unit(s)), and moves the box unit(s) CUA toward the back 402 of the payload area 110PL (for example, against the alignment of the prongs 273A~273E) The surface 273JS or any other suitable position); and the box unit CUB is maintained in front of the payload area 110PL and adjacent to the fence 110PF (for example, as shown in FIG. 10C) (FIG. 16 box 1250D). As can be understood, when the box unit is maintained against the lined surface 273JS of the tines during transportation, the push rod moves in the Y direction (for example, to separate the box unit(s)) to separate the box(s) The unit CUB moves toward the front 401 of the payload area 110PL (for example, against the fence 110PF or any other suitable position); and the box unit CUA is maintained behind the payload area 110PL and adjacent to the alignment surface 273JS. Push The inlet rod 110PR can also be moved in the Y direction to rearrange the box unit(s) CUB against the fence 110PF to position the box unit(s) on the prongs 273A~273E to be placed in the box unit holding Location (Figure 16 block 1250E). As can be understood, considering that the box unit CUA is roughly positioned against the aligning surface 273JS of the prongs 273A~273E (for example, the picking head 270), the box unit CUB can be placed in the box unit holder. Holding position without interference from the box unit(s) CUA (block 1250F in FIG. 16), for example, the box unit CUA does not touch the box unit arranged at the box unit holding position. Lower/transfer the box unit CUA(s) back to the payload area 110PL (for example, by shrinking and lowering the transfer arm 110PA) (block 1250G in Figure 16). The propelling rod 110PR (which is pre-positioned between the alignment surface 273JS and the box unit CUA) pushes the box unit CUA (which is arranged on the drum 110RL) against the fence 110PF, in the past, the front row is aligned The box unit(s) CUA is placed in another box unit holding position (for example, different from the holding position where the box unit CUB is placed) (block 1250H in FIG. 16). The propulsion rod 110PR is maintained against the box unit(s) CUA to grasp (for example, by fence) the box unit(s) (block 1250I in FIG. 16) during transportation to other box unit holding positions. The push rod 110PR moves away from the box unit(s) CUA, and actuates the transfer arm to lift and extend the pickup head 270 to place the box unit(s) CUA in other box unit holding positions (Figure 16 block 1250J). ).

According to many aspects of the disclosed embodiments, the robot 110 will be described with respect to Figures 9 and 11 to 13 for handling the transfer of box unit(s). For example, it includes multiple picking and placing operations of the box unit(s) to classify the box units in the job to generate a mixed pallet load MPL (as shown in Figure 1F) and/or at the operator station or room 160EP according to One or more bags, carriers, or other container TOTs are used to meet the predetermined ordering sequence of picked items (as shown in FIG. 26, such as satisfying customer orders) in the predetermined order shipping sequence. For example, referring to Figure 11, a customer order may require that the box unit(s) 7 be passed to the output lifter 150B1 and the box unit 5 is also passed to the output lifter 150B1 (in other respects, note that the customer order may require common The box unit carried by the robot 110 is transferred to the different output lifts 150B1 and 150B2 (Figure 9), so that the transfer of the box unit carried by the common robot 110 to different output lifts is roughly similar to this Occurs in the manner described). In many aspects of the disclosed embodiments described herein, the output lifter 150B1 (for example, each output lifter 150B1, 150B2 of the storage and retrieval system/order fulfillment system) defines a mix from the storage array outward to the loading and filling The fulfillment route or road (also called streamline) of the box picking surface, where the mixed box picking surface enters and leaves the fulfillment route with roughly the same rules. As can be understood, although the input and output lifts 150A, 150B are described as vertical reciprocating lifts, it should be understood that in other respects, the input and output lifts 150A, 150B are any suitable transport box picking surface to and from The transportation module of the storage structure 130 (for example, between the individual pick-up surface interface station (for example, transfer station TS or buffer station BS) and individual input station 160IN (for example, input room) and output station 160UT (for example, loading and filling area/chamber) between). For example, in other aspects, the lift modules 150A, 150B are one or more vertical reciprocating lifts, Any suitable automatic material handling system, conveyor belt, robot, turntable, roller bed, synchronous or asynchronous multi-level vertical conveyor belt (such as rosary conveyor belt). In order to efficiently use each robot 110 in the storage and retrieval system 100, the controller (for example, the control server 120) determines which (multiple) picking channels the box units 5 and 7 are located in. The controller also determines which inward box unit(s) ICU is to be stored in the pick-up channel(s) from which the box units 5 and 7 (for example, the outer box unit) are picked up. The controller sends commands to the robot 110 at the level of the box units 5 and 7 to pick up one or more inner box units ICU from the interface station TS of one or more lift modules 150A, in a manner similar to As described above (Figure 17 block 1400A). The robot 110 grabs the box unit(s) ICU (Figure 17 block 1420), and transports the box unit(s) to one or more storage spaces 130 in one or more picking lanes 130A2 (Figure 17 block 1421). ), where at least one of the picking channels where the inner box unit is placed includes a certain outer box unit 5, 7. As can be understood, when the inner box units are placed in different storage positions 130S, the inner box units are sorted (Figure 17 block 1425). As described above, one or more of the box units are transferred to one box unit. The holding position, such as storage space 130S or buffer (Figure 17 block 1430), and the untransferred box unit returns to the payload area of the robot 110 to transfer to another box unit holding position (Figure 17 box 1435).

As can be understood, the 5 and 7 positions of the outer box unit are in the same or different picking channels, and are retrieved by a robot 110 or a different robot 110. This is regarded as the outer box unit and the inner box unit(s). Depending on the proximity of the predetermined storage location(s). For example, referring to FIG. 11, the robot 110 picks up from the interface station TS of the lift module 150A to the inner box unit ICU to be placed in the picking channel 130A2 (in a manner roughly similar to that described above), which is a box unit 5 is located. The box unit 7 in this example is in the picking channel 130A1. After being placed in the inner box unit ICU, the robot then travels along the picking channel 130A2 in a common pass (for example, a single traversing the picking channel in a single direction) to pick up the outer box unit 5 (Figure 17 block 1400). When it is more efficient for a single robot 110 to pick up multiple box units, the outer box unit 5 is aligned on the robot 110 as described above (block 1405 in Figure 17), and the robot travels to the other box in the channel 130A1 The position of the unit (for example, the outer box unit 7) (note that when the second outer box is located in the same channel as the first outer box, the two outer box units are all transferred by the common transfer arm 110PA of the robot 110 (Figure 6). ) And pick up in the common pass of the picking channel). The (multiple) second outbound box unit 7 is picked up by the common transfer arm 110PA (Figure 17 block 1410), and the two box units 5 and 7 are transferred and placed on the picking surface transportation system (e.g., lifter module) 150B) one or more surrounding buffer stations BS and interface stations TS (blocks 1420-1435 in FIG. 17), in a manner roughly similar to that described above with respect to placing the inner box unit(s). In the case where two different robots 110 are efficient in picking up individual box units 5 and 7, after picking up individual boxes (block 1400 in Figure 17), the box units are grabbed (block 1420 in Figure 17) and transferred And a peripheral buffer station BS or interface station TS (blocks 1421~1435 in Figure 17) placed on the outward lift 150B, such as Described here. On the one hand, when the outer box unit (for example, box unit 5) is placed in the surrounding buffer station BS, the robot 110, which is different from the robot that places the box unit 5 in the surrounding buffer station BS, transfers the box unit 5 to the interface station TS; In other respects, the same robot 110 returns to the surrounding buffer station BS to transfer the box unit 5 to the interface station TS. In many aspects of the disclosed embodiments described herein, the buffer station BS and/or the transfer station TS (such as at least one pick-up surface transfer station) commonly supports more than one mixing box pick-up surface based on a predetermined order of loading and filling The ordering order of the pick-up surfaces defines the pick-up surface of the hybrid box from the storage array/structure 130 outward into the part of the fulfillment route. In one or more aspects of the disclosed embodiments described herein, the buffer station BS and/or the transfer station TS form a common pick-up surface transfer interface for the outer lift(s) 150B1, and thus share a common support The pickup surface of is common to the outer lifter 150B1 for pickup. In one or more aspects of the disclosed embodiments described herein, each of the buffer station BS and/or the transfer station TS commonly supports more than one mixing box pickup surface, which is based on a predetermined order of loading and filling The ordering order of the picking surface defines the picking surface of the mixing box from the storage array part to the outside (for example, see picking surfaces 1 to 4 in Fig. 9). In one or more aspects of the disclosed embodiments described herein, a portion of the pickup surface of the mixing box from the storage array/structure 130 out of the storage array/structure 130 is defined in order of order and is commonly supported on the buffer station BS and/or the transfer station TS The pick-up surface of the mixing box is based on the ordering order of the pick-up surface at another buffer station BS and/or transfer station TS of another fulfillment route (for example, see the mixing box from the outward lift 150B2). In order to disclose one or more aspects of the embodiments, any suitable controller (such as a controller 120) Communicate with the robot(s) 110, and construct the ordering order of the picking surface to place the picking surface on the buffer station BS and/or the transfer station TS.

On the one hand, the outer box unit is picked up and transferred by the common transfer arm 110PA (FIG. 6) of the robot 110 to form a unit (such as a picking surface). Now referring to Figure 12, again, the customer order can require that the box unit(s) 7 be passed to the output lifter 150B1, and the box unit 5 should also be passed to the output lifter 150B1 (in other respects, note that the customer order can be The box units carried by the common robot 110 are required to be transferred to different output lifts 150B1 and 150B2 (Figure 9), so that the box units carried by the common robot 110 are transferred to different output lifts so that they are roughly similar In the way described here). As described above, the controller determines which inner box units ICU are to be stored in the picking channel(s) from which the box units 5 and 7 (for example, the outer box units) are to be picked up. The controller sends commands to the robot 110 at the level where the box units 5 and 7 are located, and picks up one or more ICUs from the interface station TS of the lift module 150A in a similar manner to that described above. Unit (e.g. picking surface) (Figure 17 block 1400A). The robot 110 grabs the picking surface PF1 (block 1420 in Figure 17), transports the picking surface PF1 to the storage space 130 (block 1421 in Figure 17) in the picking channel 130A2 where the outer box units 5 and 7 are located, and places the picking surface PF1 to the storage space 130S里 (Block 1430 in Figure 17). Note that since the entire picking surface is transferred to the common storage space and no box unit remains on the robot, the flow of this example does not proceed to block 1435 in FIG. 17.

After being placed on the inner picking surface PF1, the robot 110 then travels through the passage 130A2 with a common pass (for example, a single traversing the picking channel in a single direction) to the storage space of the outer box units 5 and 7 (the box units are adjacent to each other) The configuration is on the storage shelf, so that it can be picked up at the same time into the outer picking surface PF2). The robot 110 uses the common transfer arm 110PA (Figure 6) to pick up the pickup surface PF2 (Figure 17 block 1415), grasp the pickup surface PF2 (Figure 17 block 1420), and transport the pickup surface PF2 (Figure 17 block 1421) to lift outwards器150B1. On the one hand, the box units 5 and 7 of the picking surface PF2 are placed in one of the surrounding buffer station BS or the interface station TS to form a unit (block 1430 in FIG. 17). On the other hand, the box units 5 and 7 of the picking surface are separated and aligned (in a manner similar to that described above) to be placed in different positions (block 1425 in FIG. 17). For example, the robot 110 places the box unit 7 in the surrounding buffer station BS (Figure 17 block 1430), returns the box unit 5 to the payload area of the robot 110 (Figure 17 box 1435), and grabs the box unit 5 (Figure 17). Box 1420), transport box unit 5 to interface station TS (Figure 17 box 1421), transfer box unit 5 to interface station (Figure 17 box 1430).

On the other hand, referring to FIG. 13, the outer box units 5 and 7 are picked up from different storage positions in the common channel 130A2 by the common transfer arm 110PA (FIG. 6) of the robot 110. Here, the robot 110 transfers one or more inner box unit ICU to one or more storage locations in the above-mentioned manner, and at least one of the inner box unit ICU is located in the same pickup location as the outer box units 5 and 7 In channel 130A2. After placing at least one inner box unit in the predetermined storage position 130S of the channel 130A2, the machine The person 110 then travels through the pick-up channel 130A1 in the common passage of the pick-up channel 130A2, and picks up the box unit 5 from the storage space 130S1 in the manner described above (block 1400 in FIG. 17). The box unit(s) 5 are lined up on the robot 110 toward the back of the payload area 110PL, as described above (Figure 17 block 1405). The robot 110 then travels through the picking channel 130A1 in the common passage of the picking channel, and picks up the box unit 7 from the different storage space 130S2 with the common transfer arm 110PA, so that the box unit(s) 7, 5 are adjacent to each other It is located on the common transfer arm 110PA (block 1410 in Figure 17). As can be understood, in one aspect, the controller 110C is configured to pick up the box unit(s) according to any suitable rule, for example, the rule is opposite to the rule for placing the box unit(s).

In this example of multiple picking, the box unit holding position(s) corresponds to the storage space 130S of the picking channel 130; but in other respects, the box unit holding position(s) include input lifter modules 150A1, 150A2 (The direct transfer between the robot and the lifter occurs here), the interface used to form the interface with the input lifter modules 150A1, 150A2 or the surrounding buffer stations TS, BS (where the lifter module and the robot Indirect transfer between them), storage space 130S (note that the robot 110 picks up from the interface station TS and the input lift module 150A, where the box units required for the predetermined order shipment sequence are not located in the storage space 130S, and It is imported into the storage rack array in a just-in-time manner to be roughly directly transmitted to the output lift(s) 150B1, 150B2).

The robot 110 grabs in the payload area 110PL in the above manner Hold both the box units 7, 5, and leave the picking channel 130A1 (block 1420 in Figure 17). The robot travels along the transfer deck 130B and forms an interface with the output lift 150B1 (Figure 17 block 1421). The robot separates the box units 7 and 5 in the payload area 110PL. As described above, the box unit(s) can be arranged in any suitable manner. For example, for example, the box unit(s) 7 will line up toward the reward. The front of the loading area 110PL, and the box unit(s) 5 are aligned toward the back of the loading area 110PL (block 1425 in FIG. 17). The box unit 7 is transferred to the surrounding buffer station BS (Figure 17 block 1430). The robot shrinks the transfer arm 110PA to return the box unit(s) 5 to the payload area 110PL (Figure 17 block 1435) and grabs the box unit 5 (Figure 17 block 1420). The box unit(s) 5 are transported to the interface station TS of the output lifter 150B1 (Figure 17 block 1421), aligned as described above toward the front of the payload area 110PL (Figure 17 block 1425), transferred as described above To the transfer station TS (block 1430 in Figure 17). In other respects, depending on the predetermined output order of the box units, the robot 110 places all the box units 7, 5 in a common place/position, such as a certain output lifter 150B1, 150B2. For example, the picking surface 20 (FIG. 9) on the shelf 7000H may include both box units 7 and 5, so that the robot 110 places the box units as multiple box unit picking surfaces at a single position of the shelf 7000H. As can be understood, the box unit(s) placed in the buffer station BS are transferred to the interface station TS by the robot 110 on the one hand; or, in other aspects, by any suitable conveyance that connects the buffer station BS to the interface station TS Bring transfer. On the one hand, in the case where the box unit(s) is transferred from the buffer station BS to the interface station TS by the robot 110 Shape, the transfer is an opportunistic transfer, so that it travels along the transfer deck (for example, in such as transferring (multiple) picking surfaces to storage, sorting picking surfaces, and transferring (multiple) picking surfaces from storage.. .... in the path of another task) and the robot 110 traveling by the buffer station BS stops, and while performing other tasks, picks up the pickup surface from the buffer station BS and transfers the pickup surface to the interface station TS.

According to many aspects of the disclosed embodiments, an example in which the robot 110 performs the transfer handling of the box unit(s) will be described with respect to FIGS. 9 and 24, which includes multiple picking and placing operations of the box unit(s), which are based on a predetermined Order shipment order and classify the box units in the job to generate a mixed pallet load MPL (as shown in Figure 1F). The transfer of the pick-up surface relative to Figures 9 and 24 is roughly similar to that described above with respect to Figures 11-13, however, in this respect, the storage of the pick-up surface is skipped, so that the pick-up surface is generally lifted directly in and out Transfer between devices 150A and 150B1. On the one hand, the robot picks up the first picking surface 5 from the first shelf of the first picking surface transfer station (for example, the transfer station TS of the inner lift 150A), wherein the inner lift 150A transfers the hands on the picking surface One or more picking surfaces/boxes on the station (Figure 23 block 2300). The robot 110 traverses the transfer deck 130B and buffers the first picking surface 5 (or the buffering station BS of the transfer station TS of the outward lift 150B1) on the second shelf of the second picking surface transfer station (for example, Part) (block 2310 in Figure 23). In other respects, the first pick-up surface 5 (or part thereof) is buffered at the transfer station TS of the outward lift 150B1 instead of at the buffer station BS. The robot 110 forms second picking surfaces 5 and 7 on the second shelf, and the second picking surface is different from the first picking surface 5 It also includes more than one box corresponding to the ordering sequence of the predetermined box ordering sequence of the mixed box, wherein the first picking surface 5 and the second picking surface 5, 7 have at least one box in common (block 2320 in FIG. 23). In one aspect, the lifter 150B1 picks up the second picking surfaces 5, 7 from the second shelf (for example, the buffer station BS or the transfer station TS) (Figure 23 block 2330). On the one hand, the robot 110 forms a second picking surface on the second shelf (such as the buffer station BS or the transfer station TS) during the transportation of the first picking surface 5 between the first shelf and the second shelf during operation. 5. 7. On the one hand, the robot forms the second picking surface 5, 7 on the autonomous transport vehicle. In one aspect, the robot 110 forms the second picking surfaces 5, 7 on the second shelf or on the buffer part of the second shelf. In one aspect, before transporting at least part of the first picking surface to the second shelf, the robot 110 will pick up at least part of the first picking surface from the first shelf (for example, where the picking surface 5 includes more than one box). ) Is placed on the storage rack of the storage array (for example, in the storage space 130S). In one aspect, the second shelf forms a common pickup surface transfer interface for the vertical reciprocating lift, and the method further includes the common vertical reciprocating lift to pick up the common supported pickup surface.

Although the robot 10 of FIG. 24 is illustrated as picking up one box/pickup surface 5 from the transfer station TS of the inward lift 150A, in other respects, the robot 110 picks up two (or more than two) inward picking surfaces ( For example box/picking surface 5, 7). Here, on one hand, the robot 110 places a pick-up surface 5 on the outer buffer station BS (or outer transfer station TS), and then moves to another shelf position (for example, another outer buffer station or transfer station BS, TS). Or adjacent to the common buffer station or transfer station BS, TS shelf Near position) to place the second pickup surface 7. In one aspect, the lifter 150B1 removes the pickup surface(s) 5, 7 from the buffer station or transfer station BS, TS, as described herein. On the other hand, the robot 110 places both the pickup surfaces 5 and 7 on the outer buffer station or the transfer station BS, TS shelf. Here, the lifter 150B1 picks up one of the picking surfaces 5, 7 and transports the picking surfaces 5, 7 to the output station 160UT. The lifter 150B1 returns to the buffer station or transfer station BS, TS shelf, and picks up the other picking surfaces 5, 7 to transfer to the output station 160UT. In another aspect, the robot 110 places both the pickup surfaces 5 and 7 on the outbound buffer station or transfer station BS, TS shelf, and the lifter 150B1 picks up both the pickup surfaces 5 and 7 here to transfer to the output station 160UT . Here, the picking surfaces 5, 7 are separated or manipulated together in any suitable manner to create a hybrid pallet as exemplified in Fig. 1F.

In the example described here, the transfer of the box unit between the robot 110 and the lifter 150 occurs passively via the interface station TS, as described above. For an example of transfer, referring to Figure 18, the autonomous transport vehicle is positioned relative to the interface station TS in a manner similar to that described above with respect to the slats 1210S and/or positioning features 130F (Figure 18 block 1800). The transfer arm 110PA (such as an end effector) of the robot 110 extends to transfer the picking surface to the interface station TS, where the fingers 273A to 273E of the transfer arm 110PA form an interface with the slats 1210S of the interface station TS, for example (FIG. 18 Block 1801). As can be understood, and as noted above, multiple pick-up surfaces can be placed on the interface station TS (eg, multiple individual pick-up surfaces are simultaneously held on the interface station) to be independently transferred to the lifter 150 at the same time. The lift 150 moves to move the loading handling devices LHD, LHDA, The LHDB is positioned adjacent to the interface station TS (block 1802 in Figure 18). The loading handles LHD, LHDA, LHDB extend to lift the pickup surface from the interface station and transfer the pickup surface to the lifter 150, where the fingers 4273 of the loading handles LHD, LHDA, LHDB and the slat 1210S of the interface station TS For example, the interface is formed in the manner described above relative to FIG. 4B (block 1803 in FIG. 18). As can be understood, the interface station TS has no moving parts, and the transfer of the pickup surface(s) between the robot 110 and the lift 150 via the interface station TS is a passive transfer. As can also be understood, the transfer of the pickup surface from the lifter 150 to the robot 110 can take place in a manner substantially opposite to that described above with respect to FIG.

On the one hand, the picking surface established by the robot 110 (for example, in the above-mentioned manner) and transferred (for example, placed) to, for example, the interface station TS (and/or the buffer station BS) is not moved by the vertical lift 150 from the interface station TS ( And/or the same pickup surface picked up by the buffer station BS). For example, referring to FIG. 9, the robot 110 creates a first picking surface from the storage space 130S in the rack module RM (for example, as shown in FIG. 2A), which includes individual picking surfaces 7 and 5 (block 1900 in FIG. 19). The robot 110 transfers and places the first pick-up surface on, for example, the shelf 7000B of the interface station TS to transfer to the vertical lift 150 (Figure 19 block 1910). As can be understood, although in this example, the individual pick-up surfaces 5, 7 (for example, which form the first pick-up surface) are only placed on the common shelf 7000B, but in other respects, the individual pick-up surfaces 5, 7 7 is placed on different shelves 7000A~7000F, so that the picking surface placed on the shelf by the robot 110 is different from the first picking surface but includes at least one box unit that is common to the first picking surface. For example In other words, the first pick-up surface is broken so that a different pick-up surface including the individual pick-up surface 5 is placed on the shelf 7000B, and another different pick-up surface including the individual pick-up surface 7 is placed on the shelf 7000H, for example. The vertical lifter (for example, lifter 150B1) picks up the second picking surface from one or more shelves 7000A~7000F (for example, it is common to both the robot 110 and the vertical lifter 150B1) of the transfer station TS (Figure 19 Box 1920). Here, the second pick-up surface is different from the first pick-up surface but includes at least one of the individual pick-up surfaces 5 and 7, so that at least one box unit is common between the first pick-up surface and the second pick-up surface.

Similarly, on the one hand, the picking surface transferred from the inward vertical lift 150 (see the vertical lift 150A of FIG. 1) to (for example, placed on), for example, the interface station TS (and/or the buffer station BS) is not The same picking surface picked up by the robot 110 from the interface station TS (and/or the buffer station BS). For example, referring to Figure 9A, the first pick-up surface is transferred from the inward conveyor belt 160CB from the input station(s) 160IN to one or more vertical lifts 150A1, 150A2 (Figure 20 box 2000). In this example, a certain first pick-up surface includes a combination of individual pick-up surfaces 5 and 7 and another first pick-up surface includes a combination of individual pick-up surfaces 20 and 22. The vertical lifter 150A1 places the individual first picking surfaces 5 and 7 on the shelf 7000B of the interface station TS, and the vertical lifter 150A2 places the other first picking surfaces 20, 22 on the same storage level 130L. Shelf 7000H of another interface station TS (Figure 20 box 2010). The robot 110 establishes or picks up the second picking surface(s) from the interface station(s) TS, and then places it on the shelf(s) 7000B, by the vertical lifters 150A1, 150A2, The first picking surface(s) on 7000H (for example, common to both the robot 110 and the individual vertical lift 150A) are different from the second picking surface, but the second picking surface including at least one box unit is common to the first One pick surface (block 2020 in Figure 20). For example, the first picking surface 5, 7 is broken so that the different picking surface including the individual picking surface 5 (or the individual picking surface 7) is picked up by the robot 110; and/or another first picking surface 20, 22 is broken so that different picking surfaces including the individual picking surface 20 (or the individual picking surface 22) are picked up by the robot 110. Here, the second pick-up surface is different from the first pick-up surface but includes at least one of the individual pick-up surfaces of the first pick-up surface, so that at least one box unit is common between the first pick-up surface and the second pick-up surface . As can be understood, the second pick-up surface can be broken by the robot, so that the pick-up surface placed on at least one storage shelf by 110 is different from the second pick-up surface, and at least one box unit is on the second pick-up surface and The pickup surfaces placed on at least one storage shelf are common.

The output lifts 150B1 and 150B2 also pick up and transfer the multiple orders placed on the shelves 7000A~7000L by the robot 110 to the output station 160UT according to the predetermined order delivery sequence. For example, referring to Fig. 9 again, the pick-up surfaces 1-22 are picked up by the lifts 150B1 and 150B2 according to the sorting rules, so the pick-up surfaces 1-22 are delivered to the output station 160UT according to a predetermined rule (for example, In other words, as indicated by the number associated with each box unit/pickup surface shown in Figure 9), the predetermined rule is to form a mixed pallet load MPL (Figure 1F) and/or one or more at the operator station 160EP TOT of a bag, carrier or other container to fill the pick-up items Order order (for example, to meet customer orders) required. In this way, each interface station TS of each lifter 150B1, 150B2 forms a buffer, which holds one or more box units until the box unit(s) are needed and picked up by the individual lifters 150B1, 150B2 To form a mixed pallet load.

On the one hand, the storage and retrieval system 100 described here is performed by providing rack storage space 130S for the storage array RMA, which is arranged in an array on the rack along the channel 130A (Figure 25 block 2500). At least one transfer deck 130B is also provided, which can be connected to each channel 130A (block 2505 in Figure 25). At least one autonomous transport vehicle or robot 110 is provided, which is configured to hold at least one picking surface and traverse at least one transfer deck 130B and channel 130A, and has an extendable effector or transfer arm 110PA to pick and place at least one pick Face to and from a certain rack storage space 130S (Figure 25 block 2510). The transportation axes X and Y of the pick-up surface of the storage array are defined by the channel 130A, at least one transfer deck 130B, at least one autonomous transport vehicle 110 that traverses above, and the extendable actuator 110PA, so that the pick-up surface is transported along the pick-up surface The axis X and Y are in the inward area 160IN of the automatic storage and retrieval system (where the pickup surface that generates the inward to the storage array) and the loading and filling area 160UT of the automatic storage and retrieval system (where the outward pickup surface from the storage array is generated) It is configured to transport between filling and loading according to a predetermined order of loading and filling. The classification of the picking surface of the mixed box is carried out at the same time as the transportation of the storage rack and the autonomous transport vehicle 110 on at least one picking surface transportation axis X and Y (block 2520 in Figure 25), so that at least one picking surface Two or more of them are picked up from one or more rack storage spaces 130S, and according to The predetermined order of loading and filling is placed in one or more picking surface holding positions (for example, transfer or buffer stations TS, BS), which is different from one or more rack storage spaces 130S. In one aspect, the controller 120 (which is operatively connected to at least one autonomous transport vehicle, as described above) manages the pickup surface transportation axis X, Y, Z, wherein the pickup surface transportation axis includes multiple transportation axes. As mentioned above, the transportation axes X, Y, and Z of the multiple pick-up surfaces point at least two directions at an angle to each other. As also mentioned above, one Y of the multiple pick-up surface transport axes is defined by the extension of the extendable effector 110PA, and is relative to the other X of the multiple pick-up surface transport axes (defined by the 130A is defined by the autonomous transport vehicle 110 traversed) and angled in different directions. In one aspect, as described above, the classification in the operation is performed by a combination of a pylon and at least one autonomous transport vehicle, which is carried out at the same time as transport on at least one of each of the multiple pick-up surface transport axes. In one aspect, the lifter 150 defines another pickup surface transportation axis Z of the storage array. As described here, the sorting of the picking surface of the mixing box is carried out by the lifter 150 while being transported on the transport axis of the other picking surface. In this way, the two or more picking surfaces are separated from one or more Pick up at the deck level and transport to the loading and filling area according to the predetermined order of loading and filling.

Referring now to FIGS. 21, 22A, and 22B, in one aspect, the transfer of the pickup surface from the input station 160IN to the output station 160UT occurs without the robot 110 transferring the pickup surface. For example, referring to Figure 21, the conveyor belts 160CA, 160CB of the input and output stations 160IN, 160UT are configured such that each lift 150 serves both the input and output stations 160IN, 160UT. For example, the conveyor belt 160CA1 of the input station 160IN1 The conveyor belt 160CB1 of the output station 160UT1 and 160UT1 are both served by lifters 150A1 and 150B1. As can be understood, each conveyor belt 160CA1, 160CB1 is located at a different level of the common lifter 150A1, 150B1 (the way is similar to that described above with respect to the shelves of the buffer and transfer station BS, TS), so then The pickup surface can be picked up from one conveyor belt 160CA1, 160CB1 by the common lifter 150A1, 150B1 at one level, and transferred to another conveyor belt 160CA1, 160CB1 at another level. Here, the picking surface is substantially directly transferred from a conveyor belt 160CA1, 160CB1 by the lifts 150A1, 150B1 (for example, from the input station 160IN1 to the output station 160UT1), and the robot 110 and the storage structure 130 are skipped. As can be understood, on one hand, before transferring the pick-up surface to the output conveyor belt 160CB1, the pick-up surface from the input station 160IN1 is first placed at the shelf buffer station or transfer station BS, TS by the common lifter 150A1, 150B1 The above is to classify the picked faces as described above. 22A and 22B, on the one hand, the pickup surface is transferred from the input station 160IN to the output station 160UT via the buffer path BL that connects the input conveyor belt 160CA to the output conveyor belt 160CB, and skips the robot 110 and the storage structure 130.

Referring to FIG. 27, according to various aspects of the disclosed embodiment, storage spaces are provided, which are arranged in an array along the pick-up channel on the rack (block 1600 in FIG. 27). There is also a multi-level deck (block 1610 in Figure 27), in which at least one deck level of the multi-level deck is connected to each channel, and the multi-level deck and channel define the autonomous transport vehicle for each level of the multi-level deck. Rolling surface. At the multiple rack level The pylons are taken from individual rolling surfaces common to multiple pylon levels (block 1620 in Figure 27), where the pylons are arranged along at least one channel at each level of the multi-level deck. On the one hand, the vertical spacing between the pylon levels varies for some individual passages. On the one hand, the vertical distance between at least two pylon levels of the part of the individual passage is related to another vertical distance between at least two other pylon levels of the other passage part of the individual passage, and thus autonomous transportation Cars are picked up in order of order in the common passage. On the one hand, the vertical distance between at least two rack levels of the part of the individual passage is related to another vertical distance between at least two other rack levels of the other passage part of the individual passage, so that the vertical The spacing and another vertical spacing are performed to roughly fill the vertical space between the multiple deck levels with the stored items.

According to one or more aspects of the disclosed embodiments, an automatic storage and retrieval system is provided. The automatic storage and retrieval system includes: at least one autonomous transport vehicle; a transfer deck that defines a transport surface for the at least one autonomous transport vehicle; at least one vertical reciprocating lift; a first picking surface interface station and a second picking surface Interface stations, which are connected to the transfer deck and are separated from each other, each pickup surface interface station is formed between at least one autonomous transport vehicle on the transfer deck and at least one vertical reciprocating lift on each pickup surface interface station Picking surface transfer interface, so the picking surface is transferred between at least one vertical reciprocating lift and at least one autonomous transport vehicle at each picking surface interface station; wherein at least one autonomous transport vehicle is constructed at the first picking surface interface The station picks up the first pick-up surface, traverses the transfer deck, buffers the first pick-up surface or at least part of it at the second pick-up surface interface station, so that the second pick-up surface interface station has multiple The pick-up surface is buffered on the common support in the order of the pick-up surface according to the predetermined order order of the pick-up surface of the mixed box.

According to one or more aspects of the disclosed embodiments, at least one of the multiple picking surfaces in the second picking surface interface station is different from the first picking surface and includes boxes from the first picking surface.

According to one or more aspects of the disclosed embodiments, during the transportation of the first pick-up surface between the first pick-up surface interface station and the second pick-up surface interface station, the autonomous transport vehicle is established at the second pick-up surface interface station during operation. At least one of the multiple pick faces.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle establishes at least one of multiple pickup surfaces on the autonomous transport vehicle.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle establishes at least one of the multiple pick-up surfaces at the second pick-up surface interface station or the buffer portion of the common support buffered at the second pick-up surface interface station.

According to one or more aspects of the disclosed embodiments, the first pick-up surface is at least one of the multiple pick-up surfaces in the second pick-up surface interface station.

According to one or more aspects of the disclosed embodiments, the automatic storage and retrieval system includes: an autonomous transport vehicle access channel, which is connected to the deck; and a storage array, which has a storage array configured in a multi-level shelf and along the autonomous transport Storage pylons distributed in the car access channel.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle is configured such that at least another part of the first picking surface picked from the first picking surface interface station is placed in storage before being transported to the second picking surface interface station On the storage rack of the array.

According to one or more aspects of the disclosed embodiments, the second pick-up surface interface station forms a common pick-up surface transfer interface for at least one vertical reciprocating lift, so that the common support pick-up surface is at least one vertical reciprocating lift Pickup that is common to type lifters.

According to one or more aspects of the disclosed embodiments, the transfer deck is indeterminate and has multiple lanes.

According to one or more aspects of the disclosed embodiments, an automatic storage and retrieval system is provided. The automatic storage and retrieval system includes: at least one autonomous transport vehicle; a transfer deck, which defines a transport surface for at least one autonomous transport vehicle; and at least one inward pickup surface transport system, which is arranged between the unloading room and the loading and filling area ; At least one outward pickup surface transportation system, which is configured between the unloading chamber and the loading and filling area; the first pickup surface interface station and the second pickup surface interface station, which are connected to the transfer deck and are separated from each other, each pickup surface interface The station forms at least one autonomous transport vehicle on the transfer deck and the pick-up surface transfer interface between the inward pick-up surface transport system and the outward pick-up surface transport system at each pick-up surface interface station, so the pick-up surface is Transfer between at least one autonomous transport vehicle and an individual in the inward pickup surface transport system and the outward pickup surface transport system of each pickup surface interface station; among them, at least one autonomous transport vehicle is constructed to be picked up at the first pickup surface interface station The first picking surface, crossing the deck, buffering the first picking surface or at least part of it at the second picking surface interface station, so the second picking surface interface station has multiple picking surfaces, which are ordered according to the predetermined box of the mixed box picking surface The order is buffered on the common support in the order in which the pick-up surface is ordered.

According to one or more aspects of the disclosed embodiments, in the second At least one of the multiple picking surfaces of the picking interface station is different from the first picking surface and includes boxes from the first picking surface.

According to one or more aspects of the disclosed embodiments, during the transportation of the first pick-up surface between the first pick-up surface interface station and the second pick-up surface interface station, the autonomous transport vehicle is established at the second pick-up surface interface station during operation. At least one of the multiple pick faces.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle establishes at least one of multiple pickup surfaces on the autonomous transport vehicle.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle establishes at least one of multiple pickup surfaces at the second pickup surface interface station or the buffer portion of the common support buffered at the second pickup surface interface station.

According to one or more aspects of the disclosed embodiments, the first pick-up surface is at least one of the multiple pick-up surfaces in the second pick-up surface interface station.

According to one or more aspects of the disclosed embodiments, the automatic storage and retrieval system includes: an autonomous transport vehicle access channel, which is connected to the deck; and a storage array, which has a storage array configured in a multi-level shelf and along the autonomous transport Storage pylons distributed in the car access channel.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle is configured such that at least another part of the first picking surface picked from the first picking surface interface station is placed in storage before being transported to the second picking surface interface station On the storage rack of the array.

According to one or more aspects of the disclosed embodiments, the second pick-up surface interface station forms a common pick-up surface transfer interface for the individual of the inner pick-up surface transport system and the outer pick-up surface transport system, so that the common support The pick-up surface is the common pick-up of the previous inner pick-up surface transportation system and the outer pick-up surface transportation system.

According to one or more aspects of the disclosed embodiments, the transfer deck is indeterminate and has multiple lanes.

According to one or more aspects of the disclosed embodiments, a method of automatic storage and retrieval is provided. The method includes: picking up the first picking surface from the first shelf of the first picking surface transfer station by an autonomous transport vehicle; and buffering the first picking surface on the second shelf of the second picking surface transfer station using the autonomous transport vehicle ; A second pick-up surface is formed on the second shelf, the second pick-up surface is different from the first pick-up surface and includes more than one box-in ordering sequence corresponding to the predetermined box-out ordering sequence of the mixed box, wherein the first pick-up surface It has at least one box in common with the second pick-up surface; and picks up the second pick-up surface from the second shelf by a vertical reciprocating lift.

According to one or more aspects of the disclosed embodiments, the method includes: during the transportation of the first pick-up surface between the first shelf and the second shelf, the autonomous transport vehicle is used to form the second shelf on the second shelf during operation. Two pick up the surface.

According to one or more aspects of the disclosed embodiments, the method includes: forming a second picking surface on the autonomous transport vehicle with the autonomous transport vehicle.

According to one or more aspects of the disclosed embodiments, the method includes: forming a second picking surface on the second shelf or on the buffer portion of the second shelf by an autonomous transport vehicle.

According to one or more aspects of the disclosed embodiments, the method includes: transporting at least part of the first pick-up surface picked up from the first shelf by an autonomous transport vehicle while transporting at least part of the first pick-up surface to the second shelf. Before the shelf Place it on the storage rack of the storage array first.

According to one or more aspects of the disclosed embodiments, the second shelf forms a common pickup surface transfer interface for the vertical reciprocating lift; the method further includes using the vertical reciprocating lift to pick up the common supported pickup surface.

According to one or more aspects of the disclosed embodiments, an automatic storage and retrieval system is provided. The automatic storage and retrieval system includes: a storage array, which has rack storage spaces arranged in an array on the racks along the passage; at least one transfer deck, which can be connected to each passage; at least one autonomous transport vehicle, which It is constructed to hold at least one pick-up surface and traverse at least one transfer deck and channel, and has an extendable effector to pick up and place at least one pick-up surface to and from a certain rack storage space; wherein the channel and at least one transfer deck , At least one autonomous transport vehicle and extendable actuators across it define the transportation axis of the pickup surface of the storage array, and the pickup surface is along the axis in the inward area of the automatic storage and retrieval system and the automatic storage and retrieval The loading and filling areas of the system are transported between the loading and filling areas, in which the picking surface inward to the storage array is generated in the inward area, and the outside picking surface from the storage array is configured to fill and load according to a predetermined order of loading and filling; and The rack and the autonomous transport vehicle are configured such that the pylon and the autonomous transport vehicle are combined to perform the classification in the operation of the mixed box picking surface while simultaneously transporting on the transport axis of at least one picking surface, so that two or more of the at least one picking surface Many of them are picked up from one or more of the rack storage spaces, and placed in one or more picking surface grips different from one or more of the rack storage spaces according to a predetermined order of loading and filling Hold location.

According to one or more aspects of the disclosed embodiments, the automatic storage and retrieval system includes a controller that is operatively connected to at least one autonomous transport vehicle and is configured to manage a pickup surface transportation axis, wherein the pickup surface transportation axis includes a plurality of Transport axis.

According to one or more aspects of the disclosed embodiments, the multiple pick-up surface transportation axes point to at least two directions at an angle to each other.

According to one or more aspects of the disclosed embodiments, one of the multiple pickup surface transportation axes defined by the extension of the extendable effector is in a different direction relative to the autonomous transportation vehicle along the channel It is at an angle across the other of the defined pickup surface transportation axes.

According to one or more aspects of the disclosed embodiments, the pylon and at least one autonomous transport vehicle are combined to perform classification in operation while simultaneously transporting on at least one of each of the multiple pickup surface transport axes .

According to one or more aspects of the disclosed embodiments, at least one transfer deck includes more than one transfer deck, which is configured at different deck levels.

According to one or more aspects of the disclosed embodiments, the automatic storage and retrieval system includes a lifter, which can be connected to each deck at different deck levels, and the lifter is configured to come between different deck levels. The pick-up surface is transported and the transport axis of the other pick-up surface of the storage array is defined.

According to one or more aspects of the disclosed embodiments, the lifter is configured to perform in-operation sorting of the pick-up surface of the mixed box while simultaneously transporting on the transport axis of the other pick-up surface, so that two or more pick-up surfaces Pick from one or more deck levels and order according to the scheduled loading and filling Order and transport to the loading and filling area.

According to one or more aspects of the disclosed embodiments, the classification in operation is related to transportation on at least one of each of the multiple pickup surface transportation axes and each of the other transportation axes of the lifter. The transportation on the passenger takes place at the same time.

According to one or more aspects of the disclosed embodiments, an automatic storage and retrieval system is provided. The automatic storage and retrieval system includes: a storage array, which has rack storage spaces arranged in an array on the racks along the passage; at least one transfer deck, which can be connected to each passage; at least one autonomous transport vehicle, which It is constructed to hold at least one pick-up surface and traverse at least one transfer deck and channel, and has an extendable effector to pick up and place at least one pick-up surface to and from a certain rack storage space; at least one lifter, which can Connected to each transfer deck, the lifter is configured to transport the pick-up surface to and from at least one transfer deck; and the channel, at least one transfer deck, at least one autonomous transport vehicle across it, extendable actuators, At least one lifter defines the transportation axis of the pickup surface of the storage array, and the pickup surface is transported along the axis between the inward area of the automatic storage and retrieval system and the loading and filling area of the automatic storage and retrieval system. The inner area produces a pick-up surface inward to the storage array, and the outer pick-up surface from the storage array is configured to fill the load according to a predetermined order of loading and filling; the pylon and the autonomous transport vehicle are configured such that the pylon and the autonomous transport vehicle Combine it and classify the mixing box picking surface on at least one picking surface transportation axis, so that two or more of the at least one picking surface are picked up from one or more of the rack storage space, and according to The predetermined loading fill order order is placed in One or more pick-up surface holding positions that are different from one or more rack storage spaces; at least one lifter is configured to perform classification in the operation of the mixing box pick-up surface on the other of the at least one pick-up surface transport axis , So that two or more picking surfaces are picked up from at least one of the different transfer decks, and transported to the loading and filling area according to a predetermined order of loading and filling, where the classification in the operation is the same as the transportation on each picking surface Transport on at least one of the axes is carried out simultaneously.

According to one or more aspects of the disclosed embodiments, the automatic storage and retrieval system includes a controller that is operatively connected to at least one autonomous transport vehicle and at least one lift, and is configured to manage a pickup surface transport axis.

According to one or more aspects of the disclosed embodiments, the pickup surface transportation axis points to at least two directions at an angle to each other.

According to one or more aspects of the disclosed embodiments, a certain pick-up surface transport axis defined by the extension of the extendable effector is in a different direction relative to that defined by the autonomous transport vehicle crossing along the channel The other picking surface of the transport axis is angled.

According to one or more aspects of the disclosed embodiments, the pylon and the at least one autonomous transport vehicle are combined to perform classification in operation while simultaneously transporting on at least one pick-up surface transport axis.

According to one or more aspects of the disclosed embodiment, at least one transfer deck includes more than one transfer deck, which is configured at different deck levels, and at least one lift is constructed to transport the picking surface between the different deck levels.

According to one or more aspects of the disclosed embodiments, provided is Automatic storage and retrieval method. The method includes: providing a storage array with rack storage space arranged on the rack along the channel in an array; providing at least one transfer deck that can be connected to each channel; providing at least one autonomous transport vehicle , It is constructed to hold at least one pick-up surface and traverse at least one transfer deck and channel, and has an extendable effector to pick up and place at least one pick-up surface to and from a certain rack storage space; with a channel, at least one The transfer deck, at least one autonomous transport vehicle across it, and an extendable actor define the pickup surface transportation axis of the storage array, so that the pickup surface is along the pickup surface transportation axis in the inward area of the automatic storage and retrieval system It is transported between the loading and filling area of the automatic storage and retrieval system, in which the pickup surface inward to the storage array is generated in the inward area, and the outside pickup surface from the storage array is configured to be ordered according to the predetermined order of loading and filling Filling and loading; and combining the pylons and autonomous transport vehicles to carry out the classification in the operation of the mixed box picking surface while transporting on the transport axis of at least one picking surface, so that two or more of the at least one picking surface are from One or more rack storage spaces are picked up, and placed in one or more picking surface holding positions different from the one or more rack storage spaces according to a predetermined order of loading and filling.

According to one or more aspects of the disclosed embodiments, the method includes: managing a pickup surface transportation axis with a controller operably connected to at least one autonomous transportation vehicle, wherein the pickup surface transportation axis includes a plurality of transportation axes.

According to one or more aspects of the disclosed embodiments, the multiple pick-up surface transportation axes point to at least two directions at an angle to each other.

According to one or more aspects of the disclosed embodiments, the extensible One of the multiple pickup surface transportation axes defined by the extension of the actor is in a different direction relative to the other of the multiple pickup surface transportation axes defined by the autonomous transport vehicle traversing along the channel They are angled.

According to one or more aspects of the disclosed embodiments, the method includes: combining a pylon and at least one autonomous transport vehicle to perform classification in operation, and at least one of the transport axes on each of the multiple picking surfaces On the transportation at the same time.

According to one or more aspects of the disclosed embodiments, the method includes: using a lifter to define another pick-up surface transportation axis of the storage array, and the lifter can be connected to at least one transfer deck arranged in different deck levels Each one, and transport pick-up surfaces between different deck levels.

According to one or more aspects of the disclosed embodiments, the method includes: using a lifter to perform in-operation sorting of the pick-up surface of the mixing box, and simultaneously with the transportation on the transport axis of the other pick-up surface, such two or more Each picking surface is picked from one or more deck levels and transported to the loading and filling area according to a predetermined loading and filling order sequence.

According to one or more aspects of the disclosed embodiments, the method includes: performing classification in the operation, and transporting on at least one of each of the multiple pick-up surface transport axes and on another of the lifters. Transport on each of the transport axes is simultaneous.

It should be understood that the foregoing description only demonstrates many aspects of the embodiments. Those skilled in the art can design various substitutions and modifications without departing from many aspects of the disclosed embodiments. Accordingly, many aspects of the disclosed embodiments are intended to cover all such substitutions and modifications falling within the scope of the appended application patent And change. Furthermore, different sub-items or independent items quote different features, which are merely facts and do not indicate that combinations of these features cannot be used to advantage, and such combinations are still within the scope of many aspects of the present invention.

110‧‧‧Autonomous roaming or transport vehicle ("robot")

130B‧‧‧Transfer deck

150B‧‧‧Output Vertical Lift Module

160CB‧‧‧Conveyor belt

1200‧‧‧Horizontal support, shelf rail

1210‧‧‧Intermediate shelf, intermediate shelf rail

1210S‧‧‧Slats

BS‧‧‧Buffer station, surrounding buffer station

CS‧‧‧Common support/surface

LHD‧‧‧Lift loading control device

PCF1‧‧‧First pickup surface

PCF2‧‧‧Second Pickup Surface

PCF3‧‧‧Different picking surfaces

PCF4‧‧‧The third pickup surface

RTS‧‧‧Transfer rack shelf

TL1, TL2‧‧‧Stacking level

TS‧‧‧Transfer station, interface station

Claims (49)

An automatic storage and retrieval system, comprising: at least one autonomous transport vehicle; a transfer deck defining a transport surface for the at least one autonomous transport vehicle; at least one vertical reciprocating lift; a first picking surface interface station, and The second picking surface interface station is connected to the transfer deck and spaced apart from each other, each picking surface interface station is formed on the at least one autonomous transport vehicle on the transfer deck and the at least one vertical at each picking surface interface station The pick-up surface transfer interface between the reciprocating lifts, so that the pick-up surface is transferred between the at least one vertical reciprocating lift and the at least one autonomous transport vehicle at each pick-up surface interface station; wherein the at least one The autonomous transport vehicle is configured to pick up the first picking surface at the first picking surface interface station, traverse the transfer deck, and buffer the first picking surface or at least part thereof at the second picking surface interface station, and then the second picking surface The surface interface station has multiple pick-up surfaces, which are buffered on a common support in the order of the pick-up surfaces according to the predetermined ordering order of the mixed-box pick-up surfaces. For example, the automatic storage and retrieval system of item 1 of the scope of patent application, wherein at least one of the multiple pick-up surfaces at the second pick-up surface interface station is different from the first pick-up surface and includes Box of noodles. For example, the automatic storage and retrieval system of item 1 of the scope of patent application, wherein the transportation between the first pick-up surface interface station and the second pick-up surface interface station During the transfer of the first pick-up surface, the autonomous transport vehicle establishes at least one of the multiple pick-up surfaces at the second pick-up surface interface station during operation. For example, the automatic storage and retrieval system of item 3 of the scope of patent application, wherein the autonomous transport vehicle establishes the at least one of the multiple pickup surfaces on the autonomous transport vehicle. For example, the automatic storage and retrieval system of item 3 of the scope of patent application, wherein the autonomous transport vehicle is buffered at the second picking surface interface station or at the second picking surface interface station of the buffer part of the common support to establish the multiple Pick up the at least one of the faces. For example, the automatic storage and retrieval system of item 1 of the scope of patent application, wherein the first pick-up surface is at least one of the multiple pick-up surfaces at the second pick-up surface interface station. For example, the automatic storage and retrieval system of item 1 of the scope of patent application further includes: an autonomous transport vehicle access channel, which is connected to the deck; and a storage array, which has a storage array arranged in a multi-level shelf and along the autonomous vehicle The storage racks distributed by the transport vehicle access channels. For example, the automatic storage and retrieval system of item 7 of the scope of patent application, wherein the autonomous transport vehicle is configured such that at least another part of the first pickup surface picked up from the first pickup surface interface station is transported to the second pickup surface The interface station was previously placed on the storage rack of the storage array. For example, the automatic storage and retrieval system of item 1 of the scope of patent application, wherein the second pick-up surface interface station forms a common pick-up surface transfer interface for the at least one vertical reciprocating lift, so that the commonly supported pick-up The surface is picked up by the at least one vertical reciprocating lifter. For example, the automatic storage and retrieval system of item 1 in the scope of patent application, in which the transfer deck is of uncertain purpose and has multiple lanes. An automatic storage and retrieval system, which includes: at least one autonomous transport vehicle; a transfer deck, which defines a transport surface for the at least one autonomous transport vehicle; and at least one inward pickup surface transport system, which is configured in the unloading room and loading Between the filling areas; at least one outward pick-up surface transport system, which is configured between the unloading chamber and the loading and filling area; a first pick-up surface interface station and a second pick-up surface interface station, which are connected to the transfer deck and are separated from each other On, each pick-up surface interface station is formed on the at least one autonomous transport vehicle on the transfer deck and between the inward pick-up surface transport system and the outward pick-up surface transport system of each pick-up surface interface station The pick-up surface transfer interface of each pick-up surface interface station is transferred between the individual and the at least one autonomous transport vehicle in the inward pick-up surface transportation system and the outward pick-up surface transportation system of each pick-up surface interface station; The at least one autonomous transport vehicle is configured to pick up the first pick-up surface at the first pick-up surface interface station, traverse the deck, and buffer the first pick-up surface or at least a part thereof at the second pick-up surface interface station. The two-pick-up surface interface station has multiple pick-up surfaces, which are buffered on a common support in the order of the pick-up surfaces according to the predetermined ordering order of the mixed-box pick-up surfaces. For example, the automatic storage and retrieval system of item 11 in the scope of patent application System, wherein at least one of the multiple pick-up surfaces at the second pick-up surface interface station is different from the first pick-up surface and includes boxes from the first pick-up surface. For example, the automatic storage and retrieval system of item 11 of the scope of patent application, wherein the autonomous transport vehicle is in operation during the transportation of the first pickup surface between the first pickup surface interface station and the second pickup surface interface station At least one of the multiple pickup surfaces is established at the second pickup surface interface station. For example, the automatic storage and retrieval system of item 13 of the scope of patent application, wherein the autonomous transport vehicle establishes the at least one of the multiple pickup surfaces on the autonomous transport vehicle. For example, the automatic storage and retrieval system of item 13 of the scope of patent application, wherein the autonomous transport vehicle establishes the multi-pickup at the second pick-up surface interface station or the buffer portion of the common support buffered at the second pick-up surface interface station The at least one of the faces. For example, the automatic storage and retrieval system of item 11 of the scope of patent application, wherein the first picking surface is at least one of the multiple picking surfaces in the second picking surface interface station. For example, the automatic storage and retrieval system of item 11 of the scope of patent application further includes: an autonomous transport vehicle access channel, which is connected to the deck; and a storage array, which has a storage array arranged in a multi-level shelf and along the autonomous vehicle The storage racks distributed by the transport vehicle access channels. For example, the automatic storage and retrieval system of item 17 of the scope of patent application, wherein the autonomous transport vehicle is configured to make the interface station from the first pick-up surface The picked up at least another part of the first picking surface is placed on the storage rack of the storage array before being transported to the second picking surface interface station. For example, the automatic storage and retrieval system of item 11 of the scope of patent application, wherein the second pick-up surface interface station forms a common pick-up surface transfer interface for the individual of the inward pick-up surface transportation system and the outward pick-up surface transportation system , In this case, the pickup surface of the common support is the pickup common to the individual of the inward pickup surface transportation system and the outer pickup surface transportation system. For example, the automatic storage and retrieval system of item 11 in the scope of patent application, in which the transfer deck is of uncertain purpose and has multiple lanes. A storage and retrieval method, which includes: picking up a first picking surface from a first shelf of a first picking surface transfer station by an autonomous transport vehicle; and using the autonomous transport vehicle to pick up a second picking surface at a second picking surface transfer station A shelf to buffer the first pick-up surface; a second pick-up surface is formed on the second shelf, the second pick-up surface is different from the first pick-up surface, and includes a plurality of orders corresponding to the predetermined order of the mixing box The ordering sequence is placed in a box, wherein the first picking surface and the second picking surface have at least one common box; and the second picking surface is picked up from the second shelf by a vertical reciprocating lifter. For example, the storage and retrieval method of item 21 of the scope of the patent application further includes: transporting the first shelf between the first shelf and the second shelf. During the picking of the surface, the autonomous transport vehicle is used to form the second picking surface on the second shelf during operation. For example, the storage and retrieval method of item 22 of the scope of the patent application further includes: forming the second pickup surface on the autonomous transportation vehicle by using the autonomous transportation vehicle. For example, the storage and retrieval method of item 22 of the scope of patent application further includes: forming the second picking surface on the second shelf or on the buffer part of the second shelf by the autonomous transport vehicle. For example, the storage and retrieval method of item 21 of the scope of the patent application further includes: using the autonomous transport vehicle to transfer at least part of the first pickup surface picked up from the first shelf on the first pickup surface At least the part is placed on the storage rack of the storage array before being transported to the second shelf. For example, the storage and retrieval method of item 21 of the scope of patent application, wherein the second shelf forms a common pickup surface transfer interface for the vertical reciprocating lift; the method further includes: lifting by the vertical reciprocating lift And pick up the common supporting pick-up surface. An automatic storage and retrieval system, comprising: a storage array having rack storage spaces arranged in an array on the racks along the passage; at least one transfer deck, which can be connected to each of the passages; An autonomous transport vehicle constructed to hold at least one pick-up surface and traverse the at least one transfer deck and channel, and has an extendable actuator to pick up and place the at least one pick-up surface to and from the rack storage space One of Wherein the channel, the at least one transfer deck, the at least one autonomous transport vehicle traversing thereon, and the extendable effector define the transport axis of the pickup surface of the storage array, and the pickup surface is along the axis in the automatic storage Transport between the inward area of the and retrieval system and the loading and filling area of the automatic storage and retrieval system, wherein the inward area produces a pickup surface that is inward to the storage array, and the pickup surface from the storage array The noodles are configured to be filled and loaded according to a predetermined order of loading and filling; and wherein the pylon and the autonomous transport vehicle are configured such that the pylon and the autonomous transport vehicle are combined to perform the classification in the operation of picking up the surface of the mixed box. The transport on at least one of the pick-up surface transport axes simultaneously, so that two or more of the at least one pick-up surface are picked up from one or more of the rack storage space, and according to the predetermined The order of loading and filling is placed in one or more pick-up surface holding positions different from the one or more in the storage space of the rack. For example, the automatic storage and retrieval system of item 27 of the scope of patent application further includes: a controller operably connected to the at least one autonomous transport vehicle and configured to manage the pickup surface transportation axis, wherein the pickup surface transportation axis Including multiple transportation axes. For example, the automatic storage and retrieval system of item 28 of the scope of patent application, wherein the transportation axes of the multiple pickup surfaces point to at least two directions at an angle to each other. For example, the automatic storage and retrieval system of item 28 of the scope of patent application, wherein one of the transport axes of the multiple pickup surfaces defined by the extension of the extendable effector is in a different direction relative to The pass The autonomous transport vehicle of the lane traverses the other one of the transport axes of the plurality of pick-up surfaces defined at an angle. For example, the automatic storage and retrieval system of item 28 of the scope of patent application, in which the pylon and the at least one autonomous transport vehicle are combined to perform classification in operation, and are related to each of the multiple pick-up surface transport axes At least one of them is transported simultaneously. For example, the automatic storage and retrieval system of item 27 of the scope of patent application, wherein the at least one transfer deck includes more than one transfer deck, which are arranged at different deck levels. For example, the automatic storage and retrieval system of item 32 of the scope of patent application further includes: a lifter, which can be connected to each of the different deck levels on the deck, and the lifter is configured to The pickup surface is transported between deck levels, and another pickup surface transportation axis of the storage array is defined. For example, the automatic storage and retrieval system of item 33 of the scope of patent application, in which the lifter is configured to perform classification during the operation of the picking surface of the mixing box, and at the same time as the transportation on the transportation axis of the other picking surface, the Two or more picking surfaces are picked up from one or more deck levels and transported to the loading and filling area according to the predetermined loading and filling ordering sequence. For example, the automatic storage and retrieval system of item 34 of the scope of patent application, wherein the classification in the operation is related to the transportation on at least one of each of the multiple pickup surface transportation axes and the transportation on the lifter. Transport on each of the other transport axis is carried out simultaneously. An automatic storage and retrieval system, comprising: a storage array having rack storage spaces arranged in an array on the racks along the passage; at least one transfer deck, which can be connected to each of the passages; An autonomous transport vehicle constructed to hold at least one pick-up surface and traverse the at least one transfer deck and channel, and has an extendable actuator to pick up and place the at least one pick-up surface to and from the rack storage space At least one lifter, which can be connected to each transfer deck, the lifter is configured to transport the pick-up surface to and from the at least one transfer deck; and wherein the passage, the at least one transfer deck, and The at least one autonomous transport vehicle, the extendable effector, and the at least one lift define the transport axis of the pickup surface of the storage array, and the pickup surface is along the axis in the direction of the automatic storage and retrieval system. Transport between the inner area and the loading and filling area of the automatic storage and retrieval system, where a pickup surface inward to the storage array is generated in the inward area, and an outward pickup surface from the storage array is configured according to a predetermined The loading and filling ordering sequence is used to fill the loading, the pylon and the autonomous transport vehicle are configured such that the pylon and the autonomous transport vehicle are combined to perform the operation of the mixed box pickup surface on at least one of the pickup surface transportation axes Sorting, so that two or more of the at least one picking surface are picked up from one or more of the rack storage space, and placed in a storage space different from the rack storage according to the predetermined order of loading and filling One or more pick-up surface holding positions of the one or more in the space, and The at least one lifter is configured to perform in-operation classification of the mixing box picking surface on the other of the at least one picking surface transportation axis, so that two or more of the picking surfaces are removed from the at least one transfer deck Pick up and transport to the loading and filling area according to the predetermined order of loading and filling, wherein the sorting in the operation is carried out simultaneously with the transport on at least one of each of the transport axes of the picking surface . For example, the automatic storage and retrieval system of item 36 of the scope of the patent application further includes: a controller operatively connected to the at least one autonomous transport vehicle and the at least one lift, and configured to manage the transport axis of the pickup surface. For example, the automatic storage and retrieval system of item 37 of the scope of patent application, wherein the transportation axis of the pickup surface points at least two directions at an angle to each other. For example, the automatic storage and retrieval system of item 37 of the scope of patent application, wherein one of the transport axes of the pickup surface defined by the extension of the extendable effector is in a different direction relative to the direction along the The autonomous transport vehicle of the passage is angled across the other of the defined pickup surface transport axes. For example, the automatic storage and retrieval system of item 37 of the scope of patent application, wherein the pylon and the at least one autonomous transport vehicle are combined for classification in operation, and transported on at least one of the transport axes of the picking surface Simultaneously. For example, the automatic storage and retrieval system of item 36 of the scope of patent application, wherein the at least one transfer deck includes more than one transfer deck, which is equipped with Are placed on different deck levels, and the at least one lifter is constructed to transport the pickup surface between the different deck levels. A storage and retrieval method, comprising: providing a storage array with rack storage space, the rack storage space is arranged in an array on the rack along the channel; providing at least one transfer deck, which can be connected to the channel Each; provide at least one autonomous transport vehicle, which is constructed to hold at least one pick-up surface and traverse the at least one transfer deck and channel, and has an extendable effector to pick and place the at least one pick-up surface to and from One of the pylon storage spaces; the passage, the at least one transfer deck, the at least one autonomous transport vehicle that traverses it, and the extendable effector define the pickup surface transport axis of the storage array, so that The pick-up surface is transported along the transport axis of the pick-up surface between the inward area of the automatic storage and retrieval system and the loading and filling area of the automatic storage and retrieval system, wherein the inward to the The pick-up surface of the storage array, and the outward pick-up surface from the storage array is configured to be filled and loaded according to a predetermined order of loading and filling; and the pylon and the autonomous transport vehicle are combined to perform the sorting in the operation of the mixed box pick-up surface At the same time as the transportation on at least one of the transport axes of the picking surface, two or more of the at least one picking surface are picked up from one or more of the rack storage space, and according to the The predetermined order of loading and filling is placed in one or more picking surface holding positions different from the one or more of the rack storage spaces. If the storage and retrieval method of item 42 of the patent scope is applied for, its It further includes: managing the pickup surface transportation axis with a controller operably connected to the at least one autonomous transportation vehicle, wherein the pickup surface transportation axis includes a plurality of transportation axes. Such as the storage and retrieval method of item 43 in the scope of the patent application, wherein the transportation axes of the plurality of pickup surfaces point to at least two directions at an angle to each other. For example, the storage and retrieval method of item 43 of the scope of patent application, wherein one of the multiple pickup surface transportation axes defined by the extension of the extendable effector is in a different direction relative to the The autonomous transport vehicle of the passage is at an angle across the other of the defined pickup surface transport axes. For example, the storage and retrieval method of item 43 of the scope of patent application further includes: combining the pylon and the at least one autonomous transport vehicle to perform classification in operation, and to perform the classification in each of the multiple pickup plane transportation axes At least one of them will be transported simultaneously. For example, the storage and retrieval method of item 42 of the scope of patent application further includes: using a lifter to define another pick-up surface transportation axis of the storage array, and the lifter can be connected to the at least one arranged on different deck levels. A transfer of each of the decks, and transport of the pickup surface between the different deck levels. For example, the storage and retrieval method of item 47 of the scope of the patent application further includes: using the lifter to perform classification during the operation of the pickup surface of the mixing box, and at the same time as the transportation on the transportation axis of the other pickup surface, so Two or more of the picking surfaces are picked from one or more deck levels, And transport to the loading and filling area according to the predetermined order of loading and filling. For example, the storage and retrieval method of item 48 of the scope of patent application, which further includes: performing classification in operation, and transporting on at least one of each of the plurality of pickup surface transportation axes and performing The transportation on each of the other transportation axes of the lifter is simultaneous.

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