201242865 六、發明說明： 〔相關申請案對照說明〕 本申請案爲非暫時申請案並主張2010年12月15日 提申之美國暫時申請案第61 /4 23,242號、2010年12月15 日提申之美國暫時申請案第61/423,298號、及2010年12 月15日提申之美國暫時申請案第6 1 /423,402號的權利， 該等申請案的揭示內容藉此參照被倂於本文中。 【發明所屬之技術領域】 本發明係有關於材料搬運系統，更明確地係有關於自 動化倉儲系統。 【先前技術】 用來儲存箱子單元的倉庫大致上包含一系列的儲存架 ，其可用運送裝置，例如像是堆高機、可在儲存架間的走 道內移動或沿著儲存架移動的台車及升降機|或用其它升 降及運送裝置來存取。這些運送裝置可以是自動式或手動 式來驅動。大體上，當該等箱子單元被存放多層的貨架內 時，箱子單元係被該運送裝置上的舉升裝置放置在該等貨 架的不同架層（levels )上。當該等箱子單元被存放在位 於該儲存結構的不同樓層（floors )或架層上的貨架內時 ，該等箱子單元在被放置在該等運送裝置上的同時通常係 被運送於樓層之間，其中該等運送裝置移動於跨設在該等 樓層之間的上斜坡及下斜坡上。在其它例子中，其上設置 -5- 201242865 有·箱子單元的該等運送裝置係被一升降機升高及降低於該 胃間。通常，被該等運送裝置載送且被儲放在該儲 存架上的箱子單元是被容納在載具內，例如儲存容器，譬 如托架（tray )、輸運物（tote )或運送箱內，或在貨板 (Pallet )上。通常，進到倉庫來的進來的貨板（譬如來 自製造商）包含相同貨物種類的發貨（shipping)容器（ 如1’箱子）。離開倉庫送到例如零售商的送出的貨板是由 被稱爲混合式貨板（mixed pallet)所構成。可被理解的 是’此等混合式貨板是由容納不同種類貨物的發貨容器（ 如’輸運物或箱子，替如紙板箱，等等）製成。例如，在 該混合式貨板上的一個箱子客容納食品雜貨物品（湯罐頭 、汽水罐等等）及在同一貨板上的另一箱子可容納化粧或 家用清潔或電子物品。某些箱子可在單一箱子內容納不同 種類的物品》傳統倉儲系統，包括傳統的自動化倉儲系統 在內，無助於有效率地產生混合式貨物貨板。此外，將箱 子單元存放在例如載具、輸運物、托架內或在貨板上通常 不能在不將載具或貨板運送至一工作站來將個別的箱子單 元手動地或自動地取出的情形下取得該等載具或貨板內個 別的箱子單元。 能夠不受運送裝置在架層之間的運動影響地將未被容 納的（uncontained)或未上貨板的（unpalletized)的箱 子單元運送於一儲存設施的架層之間是有利的。在該自動 化運送車輛運送物件於整個倉儲系統的同時，它能夠實質 全效能地運作亦是有利的。 201242865 【發明內容及實施方式】 圖1示意地例示依據實施例的一示範性倉儲系統1 〇 0 。雖然被描述的實施例將參考示於圖中的實施例來加以描 述，但應被理解的是，該等被揭露的實施例可被體現成許 多其它的形式。此外，任何適合的尺寸、形狀或類型的元 件或材料亦可被使用。 依據該等實施例，該倉儲系統100可在一零售配銷中 心或倉庫中操作’用以例如完成零售店收到關於箱子單元 的訂單（使用於本文中的箱子單元係指沒有存放在托架內 、輸運物（tote )上或在貨板上的物品）。應指出的是， 箱子單元可包括物品的箱子（如，湯罐頭的箱子、穀物的 箱子’等等）或被設計成可從一貨板上被拿起來或被放在 貨板上的個別物品。依據該等實施例，發貨箱子（ s h i p p i n g c a s e )或箱子單元（如，紙板箱、桶 '盒子、條 板箱、罐子、或用來固持箱子單元之任何其它適合的裝置 )可具有不同的尺寸及可被用來在發貨時固持物品且可被 建構成它們能夠被放在貨板上（palletized )發貨。應指出 的是’當成捆的或許多貨板的箱子單元到達該儲存及取得 系統時’每一貨板的內容物可以均一的（如，每一貨板固 持一預定數量之相同的物品——貨板固持湯罐頭而另一貨 板固持穀物盒）且當貨板離開該儲存及取得系統時，該等 貨板可包含任何適當數量的不同物品及該等物品的組合（ 如，每一貨板可固持不同種類的物品一一貨板固持湯罐頭 201242865 與穀物盒子的組合）。在該等實施例中，描述於本文中的 該倉儲系統可被應用至箱子單元被儲存及被取得的任何環 境中。 該倉儲系統100可被建構來例如安裝在既有的倉庫結 構內或被設計用於新的倉庫結構中。在該等實施例中，該 倉儲系統1〇〇可實質類似於描述在例如2010年12月15 日提申之名稱 “WAREHOUSING SCALABLE STORAGE STRUCTURE”的美國暫時申請案第 6 1 /423,340號，及 2010 年 4 月 9 日提申之名稱爲“STORAGE AND RETRIEVAL S Y S Τ Ε Μ ”的美國專利申請案第1 2 / 7 5 7，3 8 1號 中的倉儲系統，該等申請案的內容藉由此參照而被倂於本 文中。在一實施例中，該倉儲系統100可包括進給（in-feed) 及送出 （out-feed) 輸運 裝置， 替如站 170， 160、 多層式垂直輸送機（MVC) 150A，150B、儲存結構130、 及數個自動運送車110(在本文中被稱爲"自動運送車（ bots )” ），其亦可如輸運裝置般地操作。在該等實施例 中，該倉儲系統亦可包括含有機器人的輸運裝置或自動運 送車輸運站6140(圖6A-6D)，其可被設置在例如自動運 送車站14 0A，14 0B，該等自動運送車站可提供一界面於 該等自動運送車 Π0與該等多層式垂直輸送機150A， 1 5 0B之間。在該等實施例中，任何適合的輸運裝置都可 被設置在任何位置及在MVC 150A，150B的兩側架層上， 用以在任何層板或平台層或位置或其它地方從M VC 150A ，150Β移走或間取材料或更換或放置材料至MVC 150Α， -8- 201242865 15 OB。該進給輸運站170及該送出輸運站160可與它們各 自的多層式垂直輸送機150A，150B —起操作，用以雙向 地輸運物件來回於一多層式儲存結構130的一或多個架層 之間。應指出的是，雖然該等多層式垂直輸送機在本文中 被描述爲專屬的入站（inbound)輸送機150A及出站（ outbound )輸送機150B，但在實施例中，輸送機150A， 150B每一者都可被用於箱子單元/物件從該倉儲系統進站 及出站運輸器兩者上。該等多層式垂直輸送機150可以是 任何用來將箱子單元運送於該倉儲系統的架層之間之適合 的堆高裝置（lifting device)。該等多層式垂直輸送機的 —些非限制性的適當例子可在例如2 0 1 0年1 2月1 5日提 申之名稱爲 “LIFT INTERFACE FOR STORAGE AND RETRIEVAL S Y S T E M S ”的美國暫時申請案，及 2 0 1 0年 4 月 9 日提申之名稱爲 “LIFT INTERFACE FOR STORAGE AND RETRIEVAL S Y S T E M S，，的美國專利申請案第 1 2/75 7,3 54號（其揭示內容藉此參照而被倂於本文中）及 名稱爲 “STORAGE AND RETRIEVAL SYSTEM”的美國專利 申請案第1 2/75 7,220號（其在上文中已被參照而倂於本文 中）中找到。例如，該等多層式垂直輸送機150A，150B 可具有任何數量的支撐層板250 (圖18A，18B)用來將該 等箱子單元運送至該倉儲系統1〇〇的一預定的儲存層26 1- 2 64 (圖2 )。該等支撐層板2 5 0可具有橫木式支撐件，其 被建構來允許自動運送車11〇的輸運手臂11 〇A的指件（ 圖18A)能夠穿過橫木之間來將箱子單元101(圖18A) -9 - 201242865 輸運至該輸送機及從該輸送機輸運箱子單元。在其它等實 施例中，箱子單元可被間接地輸運於自動運送車110與該 等多層式垂直輸送機150A，150B之間，例如，就像是描 述於名稱爲“STORAGE AND RETRIEVAL SYSTEM”的美國 專利申請案第1 2/757,220號（其在上文中已被參照而倂於 本文中）中所描述的。應指出的是，箱子單元在該等自動 運送車110與該等多層式垂直輸送機之間的輸運可用任何 適合的方式發生。 可被理解的是，該倉儲系統1〇〇可包括多個進給及送 出的多層式垂直輸送機150A，150B，其例如可被設置在 該多層式儲存結構130的每一架層上的自動運送車110進 出（accessible)，使得在各架層上的自動運送車110可 橫越該整個架層，使得一或多個箱子單元可從一多層式垂 直輸送機150A，150B被輸運至一架層上的每一儲存空間 並從每一儲存空間輸送至一架層上的該等多層式垂直輸送 機150A，150B的任何一者。自動運送車110可被建構來 藉由一次揀取將該等箱子單元輸運於儲存架600 (圖18B )上的儲存空間與該等多層式垂直輸送機之間（如，實質 地直接介於該等儲存空間與該等多層式垂直輸送機之間） «進一步舉例而言，該被指定的自動運送車110從該多層 式垂直輸送機上的層板揀取該箱子單元，將該箱子單元運 送至該儲存結構130的一預定的儲存區並將該相子單元放 在該預定的儲存區內（反之亦然）。 自動運送車Π0可被建構來將箱子單元，替如上文中 -10- 201242865 描述的零售貨物，放入到該儲存結構130的一或多個架層 中的揀取座（picking stock)內，然後選擇性地取得被編 號的物件用以將該被編號物件出貨至例如一商店或其它適 當的地點，如 2010 年 4月 9日提申之名稱爲 “AUTONOMOUS TRANSPORTS FOR STORAGE AND RETRIEVAL S Y S TEM S，，的美國專利申請案第 1 2/75 7,3 1 2 號中所描述者，其揭露內容藉此參照而被倂於本文中。該 自動運送車110的其它適合的例子被描述在例如2010年 12月 15 曰提申之名稱爲“BOT PAYLOAD ALIGNMENT AND SENSING”的美國暫時申請案第6 1 /423,220號、2010 年 12 月 15 日提申之名稱爲“AUTOMATED BOT WITH TRANSFER ARΜ”的美國暫時申請案第 6 1/423，3 65號、 20 10年 12 月 15日提申之名稱爲“BOT HAVING HIGH SPEED STABILITY”的美國暫時申請案第6 1 /423,3 5 9號、 及 2010年 12月 15日提申之名稱爲“AUTOMATED BOT TRANSFER ARM DRIVE S Y S T E Μ ”的美國暫時申請案第 6 1 /42 3，3 88號，該等申請案的全部內容藉由此參照而被倂 於本文中。如上文所描述的，自動運送車110可用任何適 當的方式與多層式垂直輸送機150Α，150Β界接（ interface)。在實施例中，自動運送車110可被建構來透 過例如自動運送車110的輸運手臂11 0A(其可具有用來 與多層式垂直輸送機的橫木式支撐層板界接）（圖18A) 相對於該自動運送車的車架的伸展來與多層式垂直輸送機 15 0A，15 0B直接界接。在該等實施例中，自動運送車110 -11 - 201242865 可用其它適合的方式，®如透過設置在該多層式儲存結構 130的各架層上的自動運送車輸運站6140與多層式垂直輸 送機150A，150B間接地界接。 如上文所述，該儲存結構130可包括多層的儲存架模 組600 (圖18B)，其中在該等實施例中每一層儲存架模 組包括一陣列的儲存空間（其被排列在該等多層上且在每 一層上有多列）、形成在儲存空間列之間的揀取走道 130A、及至少一輸運甲板（transfer deck) 130B。在該等 實施例中，該等揀取走道13 0A與該等輸運甲板13 0B可被 配置成可容許自動運送車110橫越該儲存結構130的各層 ，用以將箱子單元輸運於該儲存結構130的任何儲存空間 與任何多層式垂直輸送機150A，1 50B的任何層板之間。 該等揀取走道13 0A及該等輸運甲板130B亦允許自動運送 車110將箱子單元放入到揀取座內並取得被編號的箱子單 元。在該等實施例中，每一層可包括自動運送車輸運站 6140以容許該等多層式垂直輸送機15 0A，15 0B與該儲存 結構130的一儲存層上的自動運送車之間的物件交換。可 被理解的是，該倉儲系統可被建構來允許隨機存取該等儲 存空間。例如，在從該儲存結構1 3 0揀取箱子單元/將箱 子單元放入到該儲存結構中時，該儲存結構1 3 0中的所有 儲存空間在決定哪些儲存空間可被使用時可被實質平等地 對待，使得任何夠大的儲存空間都可被用來儲存物件。該 儲存結構1 3 0亦可被配置成該儲存結構沒有垂直的或水平 列隔板。例如，每一多層式垂直輸送機150A，150B對於 -12- 201242865 該儲存結構1 3 0內的所有儲存空間（如，該儲存空間陣列 )而言可以是共用的’使得任何自動運送車110都可存取 每一儲存空間及任何多層式垂直輸送機150Α’ 150Β都可 接受來自任何架層上的任何儲存空間的箱子單元’使得在 該等儲存空間陣列中的多個架層係實質地如一單一架層般 地作用（如，沒有垂直隔板）。該等多層式垂直輸送機 150Α，150Β亦可接受來自在該儲存結構130的任何架層 上的任何儲存空間的箱子單元（如’沒有水平隔板）。應 指出的是，該倉儲系統亦可被建構成使得每一多層式垂直 輸送機服務該儲存空間陣列的一預定的區域。該儲存結構 130可實質地類似於描述在20 10年12月15日提申之名稱 “WAREHOUSING SCALABLE STORAGE STRUCTURE”的美 國暫時申請案第61/42 3,340號及在2010年4月9日提申 之名稱爲“STORAGE AND RETRIEVAL SYSTEM”的美國專 利申請案第1 2/757,38 1號中的儲存結構，其之前已被參照 且其全部內容以被併於本文中。 一或多個中央系統控制電腦（如，控制伺服器）1 20 可用一種實質類似於描述在2010年4月9日提申之名稱 爲 “CONTROL SYSTEM FOR STORAGE AND RETRIEVAL SYSTEMS”的美國專利申請案第1 2/7 5 7,3 3 7號及名稱爲 “STORAGE AND RETRIEVAL SYSTEM”的美國專利申請案 第1 2/7 57,220號中的方式（該申請案的全部內容藉由此參 照而被倂於本文中）協調或控制該等多層式垂直輸送機 150A，150B與該倉儲系統100的其它適合的特徵構造的 -13- 201242865 操作。例如，該控制伺服器1 20可透過例如任何適合的通 信網路1 80來控制該倉儲系統1 00的操作。 該等實施例的儲存結構1 3 0可被配置成如果想要的話 ，該儲存結構可以實質地沒有垂直或水平的陣列隔板。例 如，每一該等多層式垂直輸送機150A，150B對於該儲存 結構1 30內的所有儲存空間或實質上所有儲存空間（如， 該儲存空間陣列）而言可以是共用的，使得任何自動運送 車 110都可存取每一儲存空間且任何多層式垂直輸送機 150A，150B都可接受來自任何一層上的任何儲存空間的 箱子單元，使得在該等儲存空間陣列中的多個架層係實質 地如一單一架層般地作用（如，沒有垂直隔板）。相反地 ，來自每一多層式垂直輸送機150A，150B的任何層板的 箱子單元可被輸運至整個儲存結構的任一或每一儲存空間 或輸運至該儲存結構的每一層的每一儲存空間。該等多層 式垂直輸送機150A，150B亦可接收來自該儲存結構130 的任一層上的任一儲存空間的箱子單元（如，沒有水平的 隔板）。爲了非限制性的目的，該等多層式垂直輸送機的 適當例子可在名稱爲“LIFT INTERFACE FOR STORAGE AND RETRIEVAL S Y S T E M S ”的美國專利申請案第 1 2/75 7,3 5 4 號及名稱爲 “STORAGE AND RETRIEVAL SYSTEM”的美國專利申請案第1 2/75 7,220號中找到，該申 請案的內容藉由此參照而被倂於本文中。 現參考圖2A，該等多層式垂直輸送機將詳細地予以 描述。應指出的是，輸入的多層式垂直輸送機150A及相 -14- 201242865 關連的進給輸運站170將被描述，但該輸出的多層式垂直 輸送機150B，自動運送車輸運站6140及送出的輸運站 160可實質類似於下文中描述之用於進給的配對部分，只 是材料流的方向是離開該倉儲系統100而不是進入該倉儲 系統100»可被瞭解的是，該倉儲系統100可包括多個進 給的及送出的多層式垂直輸送機150A，150B，其可例如 被該倉儲系統100的每一層上的自動運送車110存取，使 得一或多個箱子單元可從一多層式垂直輸送機15 0A， 150B被輸運至一架層上的每一儲存空間及從每一儲存空 間被輸運至在一層上的任一多層式垂直輸送機 150 A， 150B。自動運送車110可被建構來用一次揀取將（單獨的 或組合的）箱子單元施運於儲存空間與多層式垂直輸送機 之間（如，實質地直接介於儲存空間與多層式垂直輸送機 之間）。在一次揀取中被如此地輸運的箱子單元可被稱爲 一揀取面。進一步舉例而言，被指定的自動運送車110從 一多層式垂直輸送機的一層板揀取箱子單元或揀取面、將 箱子單元運送至該儲存結構130的一預定的儲存區並將箱 子單元或揀取面放入到該預定的儲存區內（及反之亦然） 〇 大體上，該等多層式垂直輸送機包括附裝至鏈條或皮 帶的酬載層板73 0(圖2 A-4 )，其形成以實質固定的速率 移動之連續移動的或循環的垂直迴圈（圖中所示的迴圈的 形狀只是示範性的且在實施例中該迴圏可具有包括矩形及 蜿蜒狀在內的任何適合的形狀），使得層板730使用被稱 -15- 201242865 爲連續輸送的“念珠”原理，讓在該迴圈的任何位置點的 裝卸都無需減慢或停止。在該等實施例中，應被理解的是 ，酬載層板73 0可被任何適當的驅動機制驅動，豐如軌條 、齒輪等等。該等多層式垂直輸送機15 0A，150B可被一 伺服器，例如控制伺服器1 20，或任何其它適合的控制器 控制。一或多個適當的電腦工作站700可用任何適合的方 式（如，有線式或無線式連接）而被連接至該等多層式垂 直輸送機150A，150B及該伺服器120以提供例如存貨管 理、多層式垂直輸送機功能及控制、及客戶訂單的完成。 可被理解的是，電腦工作站700及/或伺服器120可被程 式化來控制進給及/或送出輸送機系統。在該等實施例中 ，電腦工作站700及/或伺服器120亦可被程式化來控制 輸運站140。在該等實施例中，該電腦工作站700及伺服 器120的一或多者可包括控制櫃、一可程式的邏輯控制器 及變頻驅動器用來驅動該等多層式垂直輸送機150 A， 150B。在該等實施例中，該電腦工作站700及/或伺服器 1 20可具有任何適合的構件及組態。在該等實施例中，工 作站700可被建構來在實質沒有操作者的協助下補救在進 給及/或送出輸送機系統中的例外狀況或錯誤並與該控制 伺服器1 20溝通錯誤恢復計畫及/或反之亦然。 仍參考圖2A同時亦參考圖4，在該等實施例中，該 多層式垂直輸送機150A可包括一骨架710，其被建構來 支撐被驅動的構件，譬如鏈條（chain) 720。鏈條720可 被耦合至層板73 0，其被可運動地安裝至該骨架710，使 -16- 201242865 得鏈條720實施該等層板730繞著該骨架710之實質連續 的運動。在該等實施例中’任何適當的驅動鏈條，譬如皮 帶或纜繩，可被用來驅動該等層板730。每一層板730可 包括例如支撐件93 0及一平台900。支撐件93 0可從該平 台900延伸出且被建構來將層板73 0附裝及安裝至例如一 或多個驅動鏈條720。該平台900可包括例如任何適當形 狀的骨架911，其在此例子中爲大致“U”形的形狀（如 ，兩側向構件的一端被一橫跨件連接），及任何適當數量 之從該骨架9 1 1延伸出的間隔開的指件9 1 0。該等指件 910可被建構來支撐揀取面750’ 752(圖2B) ’其中每 一揀取面包含至少一未被容納的（uncontained)箱子單元 。在該等實施例中，每一指件9 1 0被可拆卸地緊固至骨架 9 1 1以便於個別指件9 1 0的更換或修理。指件9 1 0、骨架 911 (及支撐件 930)可形成爲一界定該座面（seating surface)之整體的結構或平台，該座面接觸並支撐該等未 被容納的箱子單元。應指出的是，該層板730只例示一代 表性的結構且在該等實施例中，層板730可具有任何適合 用來運送揀取面750，752的組態及尺寸，這將於下文中 作進一步描述。可被瞭解的是’該等揀取面支撐站A-D的 該一或多者的每一者的指件910界定該座面，每一揀取面 的一或多個箱子單元被閘控（gated )緊貼該座面。如在圖 5中所見，在該支撐站上的揀取面可具有限制件以防止揀 取面相對於支撐站（A-D )的運動。該等間隔開來的指件 910被建構來界接例如自動運送車11〇的輸運手臂或作用 -17- 201242865 器（effectors )與該進給輸運站170，用以將該等揀取面 750，752輸運於該多層式垂直輸送機150A與該等輸運站 170及自動運送車110的一或多者之間。在該等實施例中 ，該等間隔開來的指件9 1 0可如下文所述地被建構來與自 動運送車輸運站6140界接。 該多層式垂直輸送機150A亦可包括一適當的穩定裝 置，替如被驅動的穩定鏈條，用來在垂直移動期間穩定該 等層板730。在一例子中，穩定裝置可包括鏈條驅動的止 擋件（dog)，其在向上及向下兩個方向上接觸該等層板 以與層板支撐件93 0形成例如三點接觸。該等用於層板 730及穩定裝置的驅動鏈條720可在例如該等電腦工作站 700及控制伺服器1 20的一或多者的控制下可驅動地耦合 至例如任何適當數量的驅動馬達。在該等實施例中，用來 實施該等輸送器層板73 0的穩定性的其它例子被描述於稍 後的說明書中。 在該等實施例中，有任何適當數量的層板73 0被安裝 及附裝至該等驅動鏈條720。如圖2B中所見，每一層板 730可被建構來攜載例如至少兩個分開的揀取面7 5 0，752 於該層板730上的對應的位置A，C內（如，一單一垂直 的輸送機功能上等同於多個彼此相鄰地設置之獨立操作的 輸送機）。在該等實施例中，如圖5中所見到的，層板 730’可被建構來攜載例如四個位在對應的位置A-D內之分 開的揀取面75 0-7 5 3。在該等實施例中，每一層板可被建 構來攜載比四個多或少的揀取面。如上文所述，每一揀取 -18- 201242865 面可包含一或多個未被容納的箱子單元且對應於一單一自 動運送車110的酬載。可被理解的是，每一揀取面的空間 周域（space envelop)或區域平台可以是不同的。舉例而 言，該等未被容納的箱子，譬如被該等多層式垂直輸送機 直接輸運的箱子具有各式不同的尺寸（如，不同的尺度） 。而且，如被指出的，每一揀取面可包括一或多個未被容 納的箱子。因此，該等多層式垂直輸送機所攜載的每一揀 取面的長度及寬度可以是不同的。在該等實施例中，在該 揀取面的不同部分被例如該儲存結構130的不同架層上之 多於一個的自動運送車11〇輸運時，每一間揀取面會在該 等自動運送車110之間被斷開。可被理解的是，當一揀取 面被斷開時，該被斷開的揀取面的每一部分可被該倉儲系 統100視爲一新的揀取面。單爲了舉例的目的，參考圖 3A，3B，多層式垂直輸送機150A，150B的層板730可彼 此間隔一預定的間距P用以如下文所述地將酬載8 1 0， 820放到實質上連續移動的層板730上或由該處移走》 現參考圖5且如上文所述，該等多層式垂直輸送機， 譬如多層式垂直輸送機150A，被提供來自進給輸運站170 的箱子單元1〇〇〇(圖1)。如上文討論，進給輸運站170 可包括一或多個去貨板（depalletizing)工作站、輸送機 2 40、輸送機界面/自動運送車酬載堆積器1001A，1010B 及輸送機機制1 030。如可在圖5中所見，箱子單元1000 從例如該去貨板工作站被輸送機240移動。在此例子中， 位置A-D的每一者都被各自的進給輸運站供應箱子單元。 19- 201242865 可被理解的是，雖然箱子單元的輸運係以送至層板73〇’爲 例來描述，但應被瞭解是，箱子單元送至層板73 0的輸運 亦可以相同的方式實施。例如，位置A可被進給輸運站 170A供應及位置C可被進給輸運站170B供應。同時參考 圖2A，用來供應層板73 0類似側邊（在此例子中並排地 設置的位置A及C形成層板73 0的第一側邊1 05 0，及並 排地設置的位置B及D形成該層板73 0的第二側邊1051 )的進給輸運站170A，170B可一者被設置在另一者上方 成爲一水平地交錯堆疊的配置（一示範性的堆疊配置被示 於圖2A中）。在該等實施例中，該堆疊配置可被建構成 使得該等進給輸運站可一個站設置在另一個站的上方地被 垂直地對齊並延伸進入該等多層式垂直輸送機內不同的長 度以供應例如位置A及B或位置C及D，其中位置A及 B(及位置C及D)係以一者位在另一者的前方被設置， 而不是被並排地設置。在該等實施例中，該等進給輸運站 可具有任何適合的組態及位置配置。如在圖5中所見，該 層板73 0的第一側邊1 05 0及第二側邊1051係在相反方向 上被裝載（及卸載），使得每一多層式垂直輸送機15 0A 被設置在對應的輸運區2 95A，295 B之間，其中第一側邊 1050與輸運區295B界接及第二側邊1051與輸運區295A 界接。 在該等實施例中，堆積器1010A，1010B可被建構來 在將箱子單元1 000裝載至該多層式垂直輸送機150A上的 各位置A-D之前將其形成爲個別的揀取面75 0-753。在該 -20- 201242865 等實施例中，電腦工作站700及/或控制伺服器120可提 供指令或適當的控制該等堆積器ιοί 0A，101 0B (及/或該 進給輸運站170的其它構件）以堆積一預定數量的物件來 形成揀取面75 0-753。該等堆積器1010A，1010B可將箱 子單元以任何適合的方式對齊（如，讓該等物件的一或多 個側邊齊平，等等）及例如讓該等物件緊靠在一起。堆積 器1010A，1010B可被建構來將揀取面75 0-7 5 3輸運至各 輸送機機制1030，用以將該等揀取面750-753輸運至各個 層板位置A-D。在該等實施例中，輸送機機制1030包括 皮帶或用來將揀取面75 0-753移動至輸運平台1 060上之 其它適合的進給裝置。該輸運平台1060可包括用來支撐 揀取面75 0- 75 3之間隔開的指件，其中層板73 0的指件 9 1〇被建構成可穿過介於輸運平台1 060的指件之間，用以 將揀取面75 0-7 5 3從該輸運平台1 060抬起（或放下）。 該等實施例中，輸運平台1060的指件是可活動的且用來 將揀取面75 0-753以一種類似於下文中關於自動運送車輸 運站6140所描述的方式***到層板73 0的路徑中。在該 等實施例中，該等進給輸運站170 (及送出輸運站160 ) 可用任何適合的方式予以建構，用以將箱子單元（如，由 箱子單元形成的揀取面）輸運至各多層式垂直輸送機 150A，150B上或從各多層式垂直輸送機150A，150B輸運 走。 應指出的是，雖然自動運送車輸運站6140與多層式 垂直輸送機150A，150B之間的界接被描述，但應被理解 -21 - 201242865 的是，自動運送車110與多層式垂直輸送機150A，150B 之間的界接係以一類似的方式發生（如，描述在2 0 1 0年4 月 9 曰提申之名稱爲 “AUTONOMOUS TRANSPORTS FOR STORAGE AND RETRIEVAL SYSTEMS”的美國專利申請案 第12/757,312號中者，其內容在上文中已被參照且被併於 本文中）。單爲了舉例的目的，現參考圖2B及6A-6D， 多層式垂直輸送機150A將揀取面750，752從例如進給輸 運站170 (或其它適當的裝置或裝載系統）輸運至例如與 該儲存結構130內每一架層相關聯的自動運送車輸運站 6140。在其它例子中，揀取面750，752可如下文所述地 從多層式垂直輸送機150A被直接輸運至自動運送車110 。可被理解的是，自動運送車輸運站6140被設置在該儲 存結構的每一架層上鄰近個別的多層式垂直輸送機15 0A 的層板73 0的移動路徑。在該等實施例中，有一個自動運 送車輸運站140與該層板730上的位置A及C (及層板 730’的位置A-D)的每一者相對應。例如，一第一自動運 送車輸運站140可將酬載750從層板730上的位置A處取 走，而另一個自動運送車輸運站140可將揀取面752從層 板73 0上的位置C處取走，等等。在該等實施例中，一個 自動運送車輸運站140可用來將箱子單元從層板73 0上的 位置A，C的多於一個位置處取走或放置到該處。例如， 一個自動運送車輸運站140可被建構來將揀取面750，752 從層板73〇的位置A，C的一或多個位置處取走。在該等 實施例中，參考圖5，一個自動運送車輸運站140可被建 -22- 201242865 構來將揀取面750，752從層板730’的第一側邊1050的位 置A，C的一或多個位置處取走，而另一自動運送車輸運 站140可被建構來將揀取面751，753從層板730’的第二 側邊1051的位置B，D的一或多個位置處取走。在該等實 施例中，自動運送車輸運站6140可具有用來進出層板730 ，73 0’的任何適合數量的位置A-D之任何適合的組態。 每一自動運送車輸運站140都可包括一骨架11〇〇、一 或多個驅動馬達1110及一托架系統1130。該骨架1100可 具有用來將該自動運送車輸運站140耦合至例如該儲存結 構130的任何適合的支撐特徵結構（譬如水平或垂直的支 撐件）的任何適合的組態。該托架系統1 1 3 0經由軌條 1120被可移動地安裝至該骨架11〇〇，軌條被建構成可容 許該托架系統Π30移動於縮回的位置與伸展的位置之間 ，如圖6A及6B所示。該托架系統1130可包括一托架底 座1132及指件113 5。指件1135可以一種間隔開的配置安 裝至該托架底座1132使得指件1135以懸臂樑的方式從托 架底座1 1 3 2伸出。應指出的是，每一指件！丨3 5被拆卸地 定裝至該托架底座1132以便於個別指件1135的更換或修 理。在該等實施例中，指件及托架底座可以是一體的單件 式構造。該自動運送車輸運站6140的指件1135可被建構 成可通過多層式垂直輸送機15 0A (圖.1)的層板730的指 件910之間（圖4)，用來將揀取面，譬如揀取面115〇 ( 可係實質地類似於揀取面750-753)從層板730處移走。 自動運送車輸運站140亦可包括一酬載放置裝置u 4〇，其 -23- 201242865 在箭頭1 1 8 1的方向上可縮回地伸展在例如該等間隔開的 指件1135之間，用來以一相對於自動運送車輸運站140 預定的方位實施揀取面1150的放置。在該等實施例中， 該托架系統1 1 3 0可具有任何適合的組態及/或構件。該一 或多個驅動馬達1110可以是安裝在該骨架1100上用來以 任何適合的方式，普如爲了示範的目的藉由驅動皮帶或鏈 條，造成該托架系統1130的伸展/縮回及該放置裝置1140 的伸展/縮回之任何適合的馬達。在該等實施例中，該托 架系統及放置裝置可以任何適合的方式予以伸展及縮回。 在操作時，亦參考圖2C、2D、3A及3B，進來的揀取 面（如，被輸運至該倉儲系統中包括一或多個箱子單元的 揀取面），S如揀取面1150被裝載到該多層式垂直輸送 機150A且將環行（circulate)該多層式垂直輸送機150A 且將被例如一或多個自動運送車110從一個別的輸送機處 移走，用以放置到該儲存結構的一儲存區內（圖8的方塊 8 000及8010 )。如將於下文中描5的，在該等實施例中 ，該等箱子單元裝載到多層式垂直輸送機150A，150B的 輸入（如，在輸運站170的對應的進給器輸入側及各儲存 架層上的自動運送車輸運地點）可實質地與多層式垂直輸 送機150A，150B (如，在輸運站160的對應輸出側及在 各儲存架層上的自動運送車輸運位置）的裝卸順序無關且 反之亦然》在一例子中，揀取面1150可在多層式垂直輸 送機150A的向上移動的期間被裝載至層板73 0上及在多 層式垂直輸送機150A的向下移動的期間從層板730被卸 -24- 201242865 下。舉例而言，多層式垂直輸送機層板7 3 0i及 2D)可被依序地裝載，但當卸載時，層板730ii 73 0i之前被卸載。應指出的是，層板730可經由 垂直輸送機的一或多個循環來予以裝載。在該等 ，揀取面可用任何適合的方式被裝載至層板730 73 0被卸載。可被理解的是，箱子單元在該多層 送機層板730上的位置界定該自動運送車110揀 面的揀取面位置。因此，可被理解的是，該揀取 的抖動是所不想要的，特別是一揀取面在被裝載 在該輸送機上超過一個循環的時候。該自動運送 構成不論在層板73 0上的揀取面位置或揀取面的 都能從該層板73 0揀取任何適合的酬載或揀取面 實施例中，該倉儲系統100可包括一自動運送車 ，用來將自動運送車放置在鄰近層板730，用以 板7 3 0中的一預定的層板73 0揀取一所想要的揀 ，自動運送車110被放置成與該揀取面對準）。 送車定位系統亦可被建構來將自動運送車輸運手 與層板730的運動（如，速率及位置）關聯在一 該輸運手臂被伸展及縮回以從多層式垂直輸送榜 150B的預定的層板730處移走（或放置）揀取 了舉例的目的，該自動運送車110可被例如該電 7 00或控制伺服器120 (圖2A )指示用以將該輸 展進入到揀取面1 1 5 0的移動路徑中。當揀取面 多層式垂直輸送機150A攜載於箭頭8 60的方向 730ii (圖 可在層板 該多層式 實施例中 或從層板 式垂直輸 取該揀取 面輸送機 之後會留 車可被建 大小爲何 。在該等 定位系統 從該等層 取面（如 該自動運 臂的伸展 起，使得 I 150A > 面。只爲 腦工作站 運手臂伸 1 150被該 上時，自 -25- 201242865 動運送車輸運手臂的指件（其可實質類似於自動運送車輸 運站1 40的指件1 1 3 5 )通過層板7 3 0的指件9 1 0，用以將 揀取面1150從層板730輸運至托架系統1135(如，該揀 取面1150藉由層板73 0及自動運送車輸運手臂的相對運 動而從指件910被抬起）。可被理解的是，介於該等層板 之間的間距P可以是當層板730以一實質連續的速率繞著 該多層式垂直輸送機循環的同時能夠允許揀取面輸運於多 層式垂直輸送機與自動運送車110之間的任何適當的距離 。該自動運送車輸運手臂可被縮回（以一種實質類似於圖 6C，6D所示關於自動運送車輸運站140的方式），使得 該揀取面1150不再位於該多層式垂直輸送機15 0A的層板 73 0的移動路徑中。應指出的是，在該等實施例中，當自 動運送車輸運站6140被使用時，該放置裝置1140可被伸 展穿過指件1135且該托架系統1130(圖6A-6D)可被移 動於箭頭1180的方向上，將揀取面1150抵靠該放置裝置 1140，用以在一相對於例如該自動運送車輸運站MO的預 定方位下實施該揀取面1150的放置。該托架系統1130可 如圖6D所示地完全被縮回，用以將揀取面1150輸運至一 自動運送車110。 參考圖2D及 3B，爲了將酬載輸運於出去的（ outbound )方向上（如，將揀取面移出該倉儲系統），自 動運送車110從該儲存結構的一定的儲存區揀取~或多個 揀取面，如揀取面1150(圖8的方塊8020)。該等揀取 面可被自動運送車110的輸運手臂透過該自動運送車輸運 -26- 201242865 手臂相對於該自動運送車110的車架的伸展而伸入到該多 層式垂直輸送機150B (其實質地類似於多層式垂直輸送 機150A)的層板73 0的路徑中。應指出的是，該揀取面 (如，揀取面1150)可在一第一預定的順序中放置在該多 層式垂直輸送機150上（圖8的方塊8 03 0 )。該第一預定 的順序可以是任何適合的順序。層板73 0在箭頭870的方 向上的實質連續的移動速率促使層板730的指件910通過 該自動運送車輸運手臂的指件，使得層板730的運動將揀 取面1150從該自動運送車輸運手臂的指件抬起來。該揀 取面1150繞著該多層式垂直輸送機150B移動至一送出輸 運站160 (其實質地類似於進給輸運站170)，該揀取面 在該處被一輸送機機制1030以實質類似於上文所述的方 式從該層板73 0移走。該揀取面可在一第二預定的順序中 被例如該送出輸運站160從該多層式垂直輸送機150B移 走，該第二預定的順序與第一預定的順序不同且無關聯（ 圖8的方塊8040)。該第二預定的順序與任何適當的因素 有關，譬如描述於下文中的倉庫計畫規則）。如之前提到 的，爲了要以機器人可重復（robot repeatable)的方式實 施輸送機站與自動運送車輸運手臂或輸運站之間的揀取面 輸運（每一次輸運的揀取面的大小及形狀會改變），在輸 運機上的揀取面運動最好是實質上沒有抖動或晃動。 應指出的是，在多層式垂直輸送機150A，150B與該 進給及送出輸運站170，160之間的揀取面的輸運可以一 種實質類似於上文中關於自動運送車110及自動運送車輸 -27- 201242865 運站6140所描述的方式。在該等實施例中，在多層式垂 直輸送機150A，150B與該進給及送出輸運站170，160之 間的揀取面的輸運可用任何適合的方式發生。 如圖2C及2D中所見，多層式垂直輸送機150A， 15 0B的層板730是被該進給及送出輸運站170，160及自 動運送車110從該層板73 0的一共同側邊來予以裝載及卸 載。例如，層板可在一共同的方向999上（如，只從層板 730的一側邊）被裝載及卸載。在此例子中，爲了要方便 只從層板的一側邊裝載該多層式垂直輸送機，多層式垂直 輸送機150A，150B各自繞著該進給及送出輸運站170, 160的一者，使得揀取面1510繞著該進給及送出輸運站 170，160移動。這讓進給及送出輸運站170，160可被設 置在該等層板73 0與自動運送車110相同的一側，用來將 揀取面（及其內的箱子單元）來回輸運至多層式垂直輸送 機 150A ， 150B 。 應指出的是，除了滿足定單之外，該控制伺服器120 可被建構來爲了任何適當的目的命令箱子單元從該倉儲系 統取出箱子單元。在該等實施例中，該等箱子單元在該倉 儲系統中的分配（如，分類（sortation ))使得在該輸送 機內的箱子單元可以只使用兩分類程序就能夠以任何適當 的順序、用任何所想要的速率被提供以輸送至一貨板站。 該控制伺服器1 20亦可被建構成在滿足定單時配合例如店 面配置圖規定（store plan rules)，使得箱子在一第一預 定的程序中（如，用於自動運送車的利用及產出的最佳化 -28- 201242865 之箱子單元的第一分類中）被自動運送車110提供至個別 的多層式垂直輸送機150B，然後在一第二預定的程序中 (如，用於貨板裝置的利用及產出的佳化及允許箱子在該 貨板內以一種被最佳化的方式配置以便於在零售配銷點或 設施的卸載及配送之箱子單元的第二分類中）從個別的多 層式垂直輸送機15 0B被移走，使得箱子單元可以一用來 構築混合式貨板之預定的順序被放置在貨板上或其它適合 的發貨容器及/或裝置中（參見上文所述的圖8)。例如， 在箱子單元的第一分類中，自動運送車110可以任何順序 揀取個別的箱子單元（如，箱子單元）。自動運送車1 1 0 可帶著被揀取的物件橫越該等揀取走道及輸運甲板（如， 繞著該輸運甲板循環），直到該物件要被輸送至一預定的 多層式垂直輸送機15 0B的一預定的時間爲止。在箱子單 元的第二分類中，一旦箱子單元位在該多層式垂直輸送機 150B，箱子單元可繞著該輸送機環行，直到箱子單元要被 輸送至該送出的輸運站160的一預定的時間爲止。參考圖 7，應指出的是，被送至貨板的該等箱子單元的順序可對 應於例如店面配置圖規定（store plan rules) 9000。該店 面配置圖規定9000可對應於例如在客戶店面內的走道佈 局相符合或箱子單元的家族可例如與該店面內該貨板將被 卸載的一特別的位置或一種貨物。箱子單元被送至貨板的 順序亦可對應於箱子單元的特徵9001，譬如與其它箱子單 元的相容性、尺寸、重量及箱子單元的耐用性。例如，會 壓壞的箱子單元可在較重的耐用箱子單元被送至貨板之後 -29- 201242865 才被送至該貨板。箱子單元的第一及第二分類可允許如下 文所述之構築混合式的貨板9002。 該控制伺服器1 20結合該倉儲系統的結構上/機械上 的架構可以有最大的負荷平衡》如本文所述，儲存空間/ 儲存位置與將箱子單元輸運通過該倉儲系統是脫鉤的。例 如，該儲存體積（如，箱子單元在該倉庫內的配置）與將 箱子單元輸運通過該倉儲系統無關且不會影響產出率。該 儲存陣列空間可根據輸出而實質均勻地分佈。該水平的分 類（在每一架層）及高速的自動運送車110及由該多層式 垂直輸送機15 0B實施的垂直的分類實質地產生一儲存陣 列空間，其相對於該儲存陣列（如，多層式垂直輸送機 150B的一送出的輸運站160)的一輸出位置係被實質均勻 地分佈。該被實質均勻地分佈的儲存陣列空間亦容許箱子 單元以一所想要的實質固定的速率從每一送出的輸運站 1 60被輸出，使得箱子單元係以任何所想要的順序被提供 。爲了要實現該最大的負荷平衡，該控制伺服器120的控 制架構可使得該控制伺服器1 20不根據該等儲存空間相對 於該多層式垂直輸送機15 0B的地理位置（這將造成儲存 空間的實質分隔）將該儲存結構1 30 (如，該儲存陣列） 內的儲存空間與多層式垂直輸送機15 0B相關聯（如，最 靠近多層式垂直輸送機的儲存空間並沒有被分配給從該多 層式垂直輸送機移動出來或移動至該多層式垂直輸送機的 箱子）。相反地，該控制伺服器1 20可將儲存空間均勻地 圖映（map)至每一多層式垂直輸送機150B，然後選擇自 -30- 201242865 動運送車110，儲存地點及輸出多層式垂直輸超 層板佈置，使得來自該儲存結構中的任何儲存地 單元都可在一預定的實質固定的速率下以構築該 板9 002之所想要的順序從任何所想要的多層式 機輸出處（如，該等送出的輸運站）出來》 現參考圖9A及9B，其顯示依據該等實施例 141。除了下文中所述的特徵之外，站141可實 於進給輸運站160及送出輸運站170。進給站P 一自動化裝置，其可被建構來將被稱爲揀取面的 子或其它物品輸運至一 MVC內及一平台上或從 運離開該MVC。在一例子中，該進給站14 1與例 式垂直輸送機150(圖10)的層板731界接（圖 該等實施例中，進給站141可被用來將材料輸運 當的裝置、站或其它，或從任何適當的裝置、站 將材料輸運走。在一例子中，該進給站141從該 造器2010接受一揀取面。該進給站可具有任何 取面放置特徵構造，其將該揀取面（相對於該進 輸運裝置）的參考資料（如，揀取面資料）放置 式垂直輸送機層板731上的一預定的位置，使得 車110(圖1)可從該層板73 1揀取該等揀取面 站141的輸運裝置可轉變，用將該揀取面傳遞 731。該等實施例中，該傳遞可以任何適合的方 該進給站141可具有任何適合的控制器來用該多 輸送機150依照一預定的程序操作該輸運裝置並 !機 150B 點的箱子 混合式貨 垂直輸送 的進給站 質地類似 Π可以是 酬載、箱 該平台輸 如該多層 1 3 )。在 至任何適 或其它處 揀取面建 適合的揀 給站的一 在該多層 自動運送 。該進給 至該層板 式發生。 層式垂直 與該揀取 -31 - 201242865 面建造器2010互動。 該進給站141具有被動滾子台2112，用以輸運於 2014上。進給站141具有一組可伸展的或可縮回的指 酬載台2020其橫越於y軸2022上且PLC具有控 2030。滾子2012可被驅動馬達及傳動器2040選擇性 動，其中感測器可被設置來偵測將被運送的酬載的存 酬載的邊緣或其它且與編碼器或與控制器203 0結合 用以如所希望地放置該酬載。齒輪馬達2050可被設 用以選擇性地在y方向2022上橫越該酬載台2020。 軸驅動器（未示出）可被設置來將該酬載台2020移勤 方向2024上，用以實施揀取或放置到滾子2012上。 站141的y軸運動可被座標化，用以藉由放置進給站 2020來從平台730，731接受酬載或傳遞酬載至平台 ，731而輸運來自MVC平台730，731的負荷（例如 載）、箱子或其它物件或將負荷（例如，酬載）、箱 其它物件輸運至MVC平台730，731上。進給站141 直件2020的2軸2024舉升而將酬載輸運於X及y軸 ，2022之間。在一揀取面酬載放在滾子2012上的情 ，當指件2020被舉升起來時，一在方向2 0 22上的y 作（其可伸展該等指件2020 )會發生，用以允許該酬 以一種類似於圖5所示的方式）被輸送至適當的M VC 相反的程序可在把一酬載從一 MVC平台（例如平台 或731)輸運至進給站141時發生，其中指件2020在 方向2022縮回，然後在z方向2024上降低，用以將 X軸 件及 制器 地驅 在、 用， 置， —Z 丨於Z 進給 指件 730 ，酬 子或 透過 20 14 形下 軸動 載（ 〇 —— 730 y軸 —揀 -32- 201242865 取面酬載輸運至滾子台2012以便於移走。因此，進給站 141提供一自動化裝置，其可被建構來將酬載或箱子輸運 至MVC內或平台上或將酬載從MVC中或平台上運出。可 被理解的是，被一輸出M VC從該倉儲系統輸出的該揀取 面酬載係不同於輸入揀取面酬載。例如，被運送及裝載至 該儲存結構中的對應儲存空間且包含多於一個箱子的輸入 揀取面在重新取得期間會被分成多份，使得該輸入揀取面 的一次組（sub-set)被重新取得，且該被重新取得的揀取 面不同於該輸入揀取面。 現參考圖10-14C，其顯示揀取面建造器配置2002, 其具有揀取面建造器2010及進給站141。揀取面建造器 2010(其在下文中被稱爲PFB)可以是一自動化裝置，用 來單一或多個箱子或揀取面單元對齊以形成用於揀取、放 置或其它動作之該單一或多個揀取面酬載，其將被運送於 任何適的方向上或其它方向上且將與任何適合的運輸、運 送裝置或其它裝置結合使用。雖然揀取面建造器2010係 關於進給站141來予以描述，但揀取面建造器2010可在 有或沒有任何輸運站、運送系統或其它系統下被使用。又 ，揀取面建造器2010可具有更多或更少的特徵。例如， 運送特徵（譬如與輸運進給站141或其它站相關聯的特徵 )可被結合到該揀取面建造器2010中且更多或更少的感 測、對準或其它適合的特徵可被設置。 該揀取面建造器2002配置可被設置在該倉儲系統1〇〇 的任何適合的區域內。在一例子中，該揀取面建造器2010 -33- 201242865 可被設置在該輸送機240 (亦參見圖5)與多層式垂直輸 送機150之間。例如，在該等實施例中，該揀取面建造器 2010可被設置在該輸送機240的肘部240E的轉彎處（緊 鄰或離該轉彎處一距離）的下游（如，用以改變箱子流的 方向來與多層式垂直輸送機150界接）及該進給站141的 上游。在該等實施例中，該輸送機150在該肘部不一定具 有一轉彎處，在此例子中，該揀取面建造器可與一實質筆 直的輸送機界接。在該等實施例中，揀取面建造器可被設 置在多層式垂直輸送機的下游及一自動運送車界面（揀取 面在該處被輸運至自動運送車上）的上游。該揀取面建造 器2010可被建構來安排及編組一組（如，一或多個）箱 子以建造該等箱子（如，被包含的或未被包含的箱子）的 —揀取面。每一揀取面被自動運送車11〇(當作一個單元 )揀取以放置在該儲存結構130的儲存架及/或該多層式 垂直輸送機150的層板731上或由該處重新取得。在圖中 所示的該等實施例中，揀取面建造器2010透過該進給站 141與該多層式垂直輸送機150溝通，使得在該揀取面被 建造之後，揀取面被（當作一個單元）運送至多層式垂直 輸送機150。在該等實施例中，每一揀取面建造器2010可 被連結至該等多層式垂直輸送機層板731的一專屬的位置 ，譬如層板73 1具有多於一個的揀取面固持位置2280， 2290(圖13)。在該等實施例中，每一揀取面建造器可被 建構來選擇性地將箱子給送至層板731的每一揀取面固持 位置2280，2290 (如，用於一或多個層板位置的一共同的 -34- 201242865 揀取面建造器）。在該等實施例中，揀取面建造器2010 可緊鄰一個別的進給站141的一側邊且被設置成使得揀取 面的箱子經由任何適當的驅動單元離開該揀取面建造器， 且在一相對於該進給站輸運揀取面至多層式垂直輸送機的 方向成一角度（如，實質地正交）的方向上進入該進給站 141。在該等實施例中，該等箱子可被安排成相對於該揀 取面從該進給站141至該多層式垂直輸送機150的方向或 移動成任何適當的角度。該揀取面建造器2010將對對齊 的箱子（如，揀取面）輸運至該進給站141上並檢點該等 被對齊的箱子以便後續輸運至多層式垂直輸送機150。 該揀取面建造器2010可具有χ-y軸推移器2100(或 —單軸，如y軸，推移器）、丫軸壓緊件2120、滾子台 2140及PLC控制器2160。在一例子中，該推移器2100可 具有任何適合種類及數量的推板21 OOP用來將箱子推移橫 過該揀取面建造器2010的支撐表面（其可以是可移動的 )。該推板2100P可以是有彈性的且可被設置來與該等箱 子接觸，使得該等箱子在該輸送機24 0上沿著移動的方向 移動時可被推移（如，推移器2100被建構來沿著X及y 方向驅動該等推板2100P)來將箱子放置在該揀取面建造 器2010上以建造揀取面。該x-y軸推移器2100可被設置 來接受箱子，使得從輸送機240來的箱子的流動方向係朝 向該推移器（如，該輸送機在該推移器的前方或緊鄰該推 移器處推出箱子）。在一例子中，在該推移器2100接受 該等箱子時，箱子的組態可以是箱子的長軸被定向成與該 -35- 201242865 推移器2100界接。在另一例子中，箱子的短軸被定向成 與該推移器2100界接（如，箱子可具有相對於該推移器 21 00任何適當的定向）。在又另一例子中，當與該推移器 2100界接時箱子可具有混合式的定向（如，某些箱子係以 箱子的長軸與推移器界接，而其它箱子則以箱子的短軸與 推移器界接）。該x-y軸推移器2100將箱子從輸送機24 0 朝向壓緊件2120引導。 壓緊件2120包括任何適合的種類及數量的壓緊板 2120P’其被設置成實質地與該推移器2100相對且實質地 橫切箱子移動於例如進給站141與多層式垂直輸送機150 之間的方向。在一例子中，該壓緊件建立一揀取面揀取資 料。例如’當該推移器2100將箱子向上推頂住該壓緊件 2120(或反之亦然）時，該壓緊件21 20至少可移動於y 方向上（如，朝向該推板2100P)以建立一揀取面資料參 考値’用以將箱子實質地對齊並壓緊在一起（以形成一揀 取面）。在一例子中’該壓緊件2120可用任何適當的方 式受彈簧力。在該等實施例中，壓緊器可以不受彈簧力。 該揀取面建造器2010輸運及檢點在該進給站141上被對 齊的箱子（如’揀取面）以便後續輸運至多層式垂直輸送 機150。在一例子中，該揀取面建造器操作使得壓緊件 2120接受該揀取面的—初始箱子且該揀取面的其它箱子如 下文所描述地被緊靠該初始箱子。在該等實施例中，該揀 取面的箱子可被配置成該揀取面的—或多個箱子與該壓緊 板2120P實質地接觸以建立該揀取面資料參考値。 -36- 201242865 該揀取面建造器推移器2100及壓緊件2120具有被伺 服馬達驅動的線性致動器2162，2164，2166。在等實施例 中，任何適當的致動器，線性的或其它形式的致動器可被 設置，例如，任何適當的其它線性運動技術。在該等實施 例中PFB運動是被該推移器2100內的感測器2170所發動 ，其跟隨該推移器2100的酬載或箱子從頭到尾的移動， 用以提供該推移器2100整個x-y運動一正的出現偵測。 PFB 2010使用閘門2180來暫停該酬載的X軸運動直到完 整的揀取面已被建造且被壓緊，其中該揀取面可包含一或 多個箱子或酬載及其中該壓緊包含將箱子或酬載一個緊鄰 一個地放置或相對於彼此放置在任何適合的位置。在此處 ，揀取面建造器20 10的推移器2100係以會依據酬載的物 理特性（其包括但不侷限於箱子的尺寸、質量、包裝材料 及易碎性）而改變的x-y運動模式運動及該PFB壓緊件 2120則以y軸模式運動，該y軸模式係與酬載移動的方向 正交或者其係依據一給定的揀取面中的所有酬載或箱子尺 寸的總合而改變。PFB壓緊件2120可壓擠所有酬載或在y 軸上壓擠該揀取面內的酬載以提供酬載的一緊密的集合體 以供揀取、放置或後續的運送。PFB滾子台2140可以是 一馬達驅動的輸送機，其提供酬載箱子在X軸上的運動。 在該等實施例中，任何適合的形式的輸送機，譬如皮帶， 或一具有其它X軸輸送機構的靜態床台都可被提供來與推 移器2100及/或壓緊件2120 —起使用。因此，揀取面建 造器20 10可提供一自動化裝置來將多個酬載或箱子對齊 -37 - 201242865 以提供用於揀取、放置或其它目的的集合體，用以運送至 MVC 150A、B或C或其它適當的運送裝置或將該集合體 運送離開該等裝置。 該揀取面建造器20 10可用任何適當的方式被連接至 例如任何適當的控制器，替如可程式的邏輯控制器、微控 制器或控制伺服器1 2 0。在該等實施例中，來自例如該控 制伺服器120的資訊辨識每一個進來的箱子（如，被放在 該輸送機240上且被輸送的箱子）的任何適當的id (身 份）資料（如，SKU號碼、箱子尺寸等等）。爲了示.範的 目的’該ID資料可以是箱子特有的資料（譬如該Sku號 碼）且亦可與儲存參數有關的資料，例如在該倉儲系統內 的儲存位置，該等箱子將被儲存的資料及/或用於該揀取 面的詳細資料（如，箱子的方位、揀取面的內容物、揀取 面組態等等）》在該等實施例中，該箱子ID資料可以是 與箱子及/或箱子在該倉儲系統內的儲存有關的任何適合 的資料。該箱子ID資料（包括但不侷限於SKU號碼、儲 存參數、揀取面內容物、箱子尺寸等等）可被本地地儲存 ’曾如寫入到該揀取面建造器2010的記憶體內或例如該 控制伺服器1 2 0或任何其它適合的控制器的記憶體內。該 箱子ID資料可被儲存成任何適合的格式，替如查找表。 該控制器’暨如該控制伺服器1 20或任何其它適合的控制 器，產生例如該推移器2100的X，y運動模式及/或該壓 緊件2120的y偏移量，用以例如根據任何適合的資料， S如來自沿著箱子的進給路徑（如，沿著輸送機240或該 -38- 201242865 倉儲系統的任何其它適合的區域）設置之任何適當的感測 器（譬如，進給解析器（infeed resolver) 2999)的箱子 ID資料或更新的資料來建立該揀取面的資料。 在一例子中，該進給解析器2999可被建構來確認該 進來的箱子的ID資料。從例如該進給解析器獲得的資料 (例如，箱子尺寸及/或任何其它適合的箱子資訊）可用 任何適當的方式被傳遞至該揀取面建造器2010(如，直接 送至該揀取面建造器或透過例如控制伺服器1 20 )，使得 該推移器2100及該壓緊件2120的運動模式被更新以對應 到由該進給解析器2999所決定的該等箱子之被觀察到（ 關於例如儲存在例如該控制伺服器或任何其它適合的控制 器內之預定的箱子數値）的改變。在該等實施例中，該揀 取面建造器2010可用任何適當的方式來建構，用以根據 預定的箱子資料（如，被預期的箱子資料）及例如從該解 析器2999獲得之實際的箱子資料來將被認定爲是有錯誤 的箱子重新導向或摒棄。在該等實施例中，一分離的箱子 檢查站可被設置在鄰近該揀取面建造器20 10處用以將箱 子重新導向或摒棄。在一例子中，該揀取面建造器2010 可具有一閘門或用來將有錯誤的箱子從該揀取面建造器 2010移走之其它可選擇性地打開的單元。 如上文所述，該揀取面建造器2010可被建構來用任 何適當的方式與例如該控制伺服器1 20以及一相關聯的多 層式垂直輸送機15〇的控制器150PLC溝通。當多層式垂 直輸送機150的層板731被佔據時（如，層板上放置有揀 -39- 201242865 取面）（參見圖13)，該揀取面建造器2010可從該控制 器150PLC及/或該控制伺服器120獲得資訊。該揀取面建 造器2010可被建構成使得揀取面不會被給送至該進給站 141，除非該多層式垂直輸送機上有一空的層板73 1被提 供讓該揀取面可被輸運至該層板。在該等實施例中，該揀 取面建造器可以與該進給站141溝通使得當一揀取面從該 揀取面建造器2010被輸運至該進給站141時，該進給站 141將不會把該揀取面輸運至該多層式垂直輸送機，除非 該揀取面建造器2010指示它進行輸運。在一例子中，該 揀取面建造器可被建構來從例如該多層式垂直輸送機150 或該控制伺服器120接收資料，用以追蹤被輸運至該多層 式垂直輸送機150的揀取面。例如，當一揀取面被輸運至 該多層式垂直輸送機150時，該揀取面被送至其上的層板 731的身份被通知該揀取面建造器2010，使得該揀取面建 造器知道每一揀取面是在該多層式垂直輸送機150的何處 且哪些層板73 1是空的。除了將該揀取面的身份通知該揀 取面建造器之外，另一個例子是，該揀取面的身份被通知 該輸送機，讓該輸送機知道在每一輸送機層板上的是哪一 個揀取面（如果有的話）。當每一揀取面從該多層式垂直 輸送機.150被移走時，該揀取面建造器2010及/或該多層 式垂直輸送機150可接收到資料，其指出揀取面被移走的 那個層板現已空出來且可接納另一揀取面。在該等實施例 中，該等多層式垂直輸送機層板的現況可用任何適當的方 式予以追蹤（替如，用沿著該等輸送機層板73 1的路徑設 -40- 201242865 置的任何適合的感測裝置）。 在該揀取面建造器（及給送輸送機系統）的一示範性 操作中，箱子（譬如，箱子1301 ’ 1 3 02 )沿著輸送機240 移動於箭頭1 399的方向上朝向該揀取面建造器2010(圖 13A )。該推移器2100將例如一揀取面的第一個箱子 1301朝向該壓緊件2120推動，使得該箱子1301與該壓緊 件2 1 20實質地接觸（圖1 3B )。該壓緊件亦可朝向該推 移器2100移動，用以例如建立該揀取面參考資料。該推 移器縮回於箭頭1388，1389的方向上遠離該箱子1301並 回到其初始位置（圖13C及13D)，使得該揀取面的一第 二箱子1302可被向上推頂（夾緊）箱子1301(圖13E及 13D)。可被理解的是，當箱子被該推移器2100推移時， 該推移器可二維度地移動，使得被推移的箱子亦移動於沿 著該輸送機240的移動方向上（如，箭頭1399的方向上 )。在此例子中，箱子1301，1302形成揀取面1350(圖 13G) ’其被該閘門2180保持在該揀取面建造器上，直到 該多層式垂直輸送機150有一空出來的層板爲止。該閘門 2180可被降低或以其它方式移動，使得揀取面135〇被用 任何適當的方式驅動離開該揀取面建造器2010並移至該 進給站141上。該進給站可配置來根據用來將該揀取面 1350輸運至所想要的層板731的一或多個多層式垂直輸送 機150的位置（圖15)來將該揀取面輸運於一或多個方向 一或多個方向上A13，B13(圖13H)。可被理解的是， 當該揀取面1350被移動離開該揀取面建造器時，另—個 -41 - 201242865 揀取面可開始形成，使得箱子1 303 (其爲沿著該輸 24 0移動的箱子列中的下一個箱子）被移動緊鄰該推 2 1 00，使得揀取面實質係被連續地建造。 圖14A-14C例示一揀取面用較小箱子1401-1402 成的另一示範例。在此例子中，箱子1 401 - 1403被沿 送機240移動。圖14A-14C的揀取面的形成係以與上 參考圖13A-13H描述的方式實質相同的方式來形成。 出的是，圖13A-14C中所顯示的尺寸及時間資訊都只 範性的，任何適合的尺寸及時間値也都可被使用。 現參考圖15，該MVC的一示範性平台731被示 除了描述於下文中的特徵之外，平台73 1具有與之前 過的層板或平台730類似的特徵。亦參考圖16及17 顯示一具有平台引導件2200的MVC 150C。除了描述 文中的特徵之外，MVC 150C可具有與之前描述過的 1 50A或MVC 1 50B類似的特徵。在該等實施例中， 731具有安裝在骨架2250上的引導輪2210，2220, 及22 40。在該等實施例中，任何適合的引導界面（如 一或多個滾子，軸承）都可被用來取代輪子。鏈條耦 2260及2270分別被設置在滾子2210，2230及骨架 之間。耦合至該骨架2250的酬載支撐表面2280及 被提供。雖然酬載支撐表面或站被顯示，但在該等實 該平台可具有更多或較少的酬載支撐表面或站。 150C具有適當的馬達驅動器2300，其（透過軸2330 接著分別驅動鏈條系統2 3 3 5及2340 )驅動鏈條驅 送機 移器 來形 著輸 文中 應指 是示 出。 討論 ，其 於下 M VC 平台 2230 ，單 合件 2250 2290 施例 MVC ，其 動器 -42- 201242865 2310及2320。平台731可用耦合件2260及22 70分別耦 合至鏈條系統2335及23 40。雖然用於MVC 15 0C的上部 的引導件2200被顯示，類似的特徵可被設置在MVC 150C 的下部上以提供該平台73 1連續的引導。雖然一單一平台 73 1被顯示在MVC 150C上，但多個平台可以一共同的間 距或多個間距被設置》引導件2200被顯示爲大致具有四 個引導部分2350，2360，2370及2380，其分別與引導滾 子 2210，2220，22 30及 2240相對應且被耦合至 MVC 150C的骨架2205。相對於引導件2360及2380而言，引 導件2350及2370被設置成彼此相隔一更寬的距離。引導 件2350及2370在整個移動穿過MVC 150C的路徑上提供 滾子2210及2230實質連續的引導且在鏈輪與鏈條耦合件 2260及2270 —起提供平台731連續的引導的角落有中斷 處（break )及其中該等中斷處防止一過度束制（over constraint)。引導件2360及23 80在整個移動穿過MVC 150C的路徑上提供滾子2220及2240實質連續的引導且 在耦合件2260及2270會在移動期間干擾引導件230 60及 2380的地方有中斷處及引導件2360及2380提供平台731 連續的引導及該等中斷處防止干擾，而且引導輪2220(參 見圖15)在引導輪2 24 0通過一中斷處時被主動地引導及 引導輪2240在引導輪2220通過一中斷處時被主動地引導 。因此，一實直連續的三點式引導在該整個移動路徑上被 建立。在該等實施例中，該馬達2300的鏈條驅動器2310 ，232〇及鏈條系統2325，2340的一或多者可包括一主動 -43- 201242865 式煞車機制及速度控制器》應指出的是，該等鏈條系統 2335, 23 40及該等平台大致上以一實質固定的速度環繞該 輸送機路徑，用以例如允許自動運送車與平台在預定的地 方相會合。如果失去動力的話，該煞車機制及/或速度控 制器可在多個平台被沉重地裝載而其它平台則實質上是空 的時實質地防止該等平台"自由輪轉（free-wheeling) ” (如，沒有被馬達23 00及驅動鏈條驅動而移動）。在此 處，平台731移動可被移動於溝道2350，2360及2370, 2380內的兩組引導輪2210，2220及2230，2240引導於一 由該等溝道及該驅動系統所界定之預定的路徑上。因此， 沿著該路徑移動的該等引導輪2210，2220，2230，2240 及相對應的平台（及被該平台支撐的揀取面）因爲一平衡 的懸樑式配置而抵抗綴合（binding)及經由角落的移轉（ transition )被實質連續地實施，其在該等滾子引導件 2350，2360，2370，2380內具有三點（輪子）接觸點並提 供平穩的（實質沒有顫動/抖動）平台731移轉穿過該 MVC 150C內的整個移動路徑。在該等實施例中，一或多 個M VC 15 0C能夠實施儲架層的儲存架內的酬載 '箱子或 揀取面的裝卸。 如前面提到的，MVC平台731可具有多於一個之用於 至少一箱子的揀取面的揀取面站。平台73 1被鏈條驅動器 2335，2340循環（cycled)並使用引導件2200，使得該等 站保有能夠在該MVC 150C內的實質整個運動週期中有所 想要的揀取面定位的穩定性且沒有過度束制（over -44 - 201242865 constraint )，該過度束制會造成顫動、抖動或其它不適當 的或不想要的揀取面運動發生。在此處，連接至M VC驅 動器2260，2270的MVC平台連接及該等MVC平台引導 件2200被建構來在整個運動循環中實施該平台73 1與 MVC結構之間的三點接觸且沒有過度束制。由該等引導件 220形成的該等平台支撐件與驅動系統耦合件2260，2270 形成一被稱爲被引導的懸樑束制件（guided cantilever restraint )，其可移動經過整個循環而沒有過度束制，且 在整個循環運動中沒有所不想要的運動，譬如顫動或抖動 。因此，一平順且有效的裝卸MVC循環（如，進給用以 實施用於進給MVC的卸載及實施用於送出MVC的相反操 作）以及MVC分類器（如，揀取面酬載運動經過多於一 個循環）可被提供。在該等實施例中，MVC 150C具有骨 架2205、驅動系統2300及平台73 1，該等平台被安裝至 該骨架且被耦合至該驅動系統23 00使得平台731被垂直 地循環於一封閉的迴圈中。平台731可具有一或多個揀取 面酬載固持站（如，兩個站2280，2290)，它們被設置成 彼此相偏離，例如，分佈在平台上。在該等實施例中，更 多或更少位置可被提供。每一固持站可被建構來固持（一 或多個）未被包含的箱子的揀取面。每一固持站可被獨立 地進給及卸載。獨立進給可具有揀取面建造器其可被MVC 結構容納及運動路徑輪廓。又，MVC 150C可以是一多層 式裝載器/卸載器及分類器兩者。在該等實施例中，骨架 2205及驅動器2300可被建構來實施平台731運動，其可 -45- 201242865 造成一垂直或水平的循環分量，其與用於一給定的揀取面 的裝載/卸載輸運軸相同的方向上，如前-後方向。在該等 實施例中，該界面可以是與倉庫輸送機界接的界面，例如 ，一用來進給至MVC 150C的裝載站或一用來從MVC 150C送出的卸載站，其可位在該骨架2205及MVC 150C 的平台73 1的輸送迴圈路徑的內部。與倉儲系統界接的界 面，例如，自動運送車至MVC輸運位置的界面可被設置 在MVC 150C的平台731的輸送迴圈路徑的外部。在該等 實施例中，任何適合的進給或送出都被設置在MVC 150C 的平台73 1的輸送迴圈路徑的內部、外部或其它位置。 該儲存結構130亦可包括用來補充的充電站290，例 如’電池組、電容器、超電容器或自動運送車110的其它 儲電裝置，這將於下文中詳細地加以描述。充電站290可 被設置在例如輸運甲板130B的自動運送車站140A，140B (通稱爲140)，使得自動運送車11〇可在被充電的同時 ，實質同時地輸運物件來回於多層式垂直輸送機150 A， 15 0B之間。該自動運送車11〇及該倉儲系統10〇的其它 適當的特徵構造可被例如一或多個中央系統控制電腦（如 ’控制伺服器）1 20透過例如任何適合的網路丨80來加以 控制。該網路1 80可以是使用任何適類型及/或數量的通 信協定之有線網路、無線網路或無線網路與有線網路的組 合。應指出的是，該系統控制伺服器120可被建構來管理 及協調該倉儲系統1 00的整體操作並與例如倉庫管理系統 125界接，該倉庫管理系統管理整個倉庫設施。該控制伺 -46 - 201242865 服器120可以是實質類似於例如描述在2010年4月9日 提申之名稱爲 “CONTROL SYSTEM FOR STORAGE AND RETRIEVAL S Y S T E M S ”的美國專利申請案第 1 2/7 5 7,3 3 7 號中的控制伺服器，該申請案的全部內容藉由此參照而被 倂於本文中。 現參考圖18A及18B，在該倉儲系統100內的每一自 動運送車110包括一或多個適合的儲電裝置，用來提供電 力給該自動運送車110。在該等實施例中，該一或多個儲 電裝置可以是一或多個適合的電容器或超電容器（其在本 文中被通稱爲電容器11 0C)。雖然該等實施例係以電容 器爲例來描述，但應被理解的是，該等儲電裝置在其它實 施例中可以是任何適合的固態、化學、或其它儲電系統。 而且，該等自動運送車可用石化燃料來提供動力，石化燃 料的補充可實質類似於本文中所描述者。 爲了要在正常的操作期間（如，該自動運送車主動地 輸運物件於該倉儲系統中的時候）或在擴大的等待期間能 夠實質完全地（約1 00% )利用自動運送車，在該倉儲系 統100的每一儲存層261-264上的自動運送車可在位於多 層式垂直輸送機150交換區（如自動運送車/輸運站140) 的充電地點或站290重新充電或補充它門的電力供應器， 譬如一或多個電容器110C。自動運送車可藉由例如遵循 線路或其它適合的引導件，譬如輸運甲板130B上的輸送 機進出引導線130C1-130C3，來進出該等自動運送車站 140。例如，該輸運甲板130B可具有任何適當數量的移動 -47 - 201242865 引導線130L1-130L4及任何適當數量的分流（shunt)或 旁通（bypass)引導線130S1-130S7，其形成一或多個讓 該等自動運送車110橫越的移動路徑或巷道。例如，引導 線130L1，130L2允許移動於第一方向上及引導線130L3 ，130L4允許移動於實質上與第一方向相反的第二方向上 。分流引導線130S1-130S7被定向爲實質地橫跨移動引導 線130L1-130L4。分流引導線130S1-130S7允許自動運送 車110能夠雙向地切換於該等引導線130L1-130L4之間使 得自動運送車110可進出該揀取走道130A或自動運送車 站140而無需橫越該等移動引導線130L1-130L4的整個長 度。在該等實施例中，該等分流引導線可與揀取走道 13 0A 1-13 0A7或該倉儲系統的任何其它適當的進入或離開 位置對準，使得自動運送車在沿著該等移動引導線130L1-130L4的任何一條移動的時候允許自動運送車在任何一對 應的揀取走道底迴轉。該等分流引導線130S1-130S7亦可 位在該輸運甲板130B的端部或在該輸運甲板130B的任何 其它適當的位置處。例如，一沿著對應於引導線130L1的 路徑移動的自動運送車110可被指示要輸運一物件至揀取 走道130A4內的一儲存位置。然而，該自動運送車110可 能已經過了與該揀取走道130A4對應的分流引導線130S4 。該自動運送車可繼續沿著該引導線1 3 0L 1移動，直到它 遇到下一個可使用的分流點（如，一未被另一自動運送車 使用的分流點），替如分流引導線130S5。該自動運送車 可在該分流引導線130S5上迴轉，然後轉到引導線130L3 -48- 201242865 ，130L4的一者上，使得該自動運送車110移動於實質相 反的方向上，朝向該揀取走道130A4前進。該自動運送車 可持續沿著引導線130L3，130L4的一者移動，直到它遇 到與該揀取走道130A4對應的分流引導線130S4爲止，然 後該自動運送車轉到該引流引導線130S4上以轉移或以其 它方式進入該揀取走道130A4的導路（guide way)(例 如，一軌條引導系統）。輸送機進出引導線130C1-130C3 可實質類似於分流引導線130S1-130S2，然而，在該等實 施例中，該等輸送機進出引導線只允許自動運送車110單 向移動穿過該自動運送車站140。例如，輸送機進出引導 線130C1可提供一進入自動運送車站的進入路徑。輸送機 進出引導線130C2可提供一用於自動運送車110充電及允 許自動運送車與多層式垂直輸送機層板250界接的途徑。 輸送機進出引導線130C3可提供一進入該自動運送車站的 離開路徑。輸送機進出引導線130C1-130C3亦提供自動運 送車雙向移動，使得自動運送車110可使用引導線130C1 或13 0C3進入及/或離開自動運送車站。輸送機進出引導 線130C1，130C3可延伸橫跨該輸運甲板130B，使得自動 運送車可從移動引導線130L1· 130 L4的任何一者進入該自 動運送車站140並在移動引導線130L1-130L4的任一者上 離開該自動運送車站140。應指出的是，雖然輸運甲板 130B及自動運送車站140的實施例在本文中係以線依循 爲例來描述，但輸運甲板130B及自動運送車站140可被 建構成使得自動運送車被任何適合的系統來引導。在一例 -49- 201242865 子中，自動運送車110可用自動運送車的前端作爲移動方 向的前導端或用自動運送車的後端作爲移動方向的尾隨端 來進入或離開揀取走道130A及自動運送車站140，如描 述於2010年 12月15日提申之名稱爲“AUTONOMOUS TRANSPORT VEHICLE”的美國暫時申請案第 6 1 /423,409 號中者，該申請案的全部內容藉此參照被倂於本文中。 在該等實施例中，移動引導線130L1-130L4及分流引 導線130S1-130S7C包括引導線130C1，130C3)被配置成 使得自動運送車110移動於一實質逆時鐘方向上，但應被 理解的是，該等引導線可被配置成使得自動運送車移動於 實質順時中方向上。當沿著引導線130L1-130L4、130S1-130S7來回移動時，自動運送車110與自動運送車110之 間的相撞可用任何適當的方式來予以避免，譬如透過自動 運送車對自動運送車的通信或透過例如控制伺服器120或 其它適合的自動運送車控制器來作自動運送車位置追蹤及 管理。避免自動運送車相撞的一適合的例子可在2010年4 月 9 日提申之名稱爲 “CONTROL SYSTEM FOR STORAGE AND RETRIEVAL S Y S T E M S，，的美國專利申請案第 1 2/7 5 7,3 3 7號中找到，該申請案的全部內容藉由此參照而 被倂於本文中。 在該等實施例中，自動運送車站140可以是一門廊 130V的形式，其延伸在該輸運甲板130B與該多層式垂直 輸送機150之間。每一門廊130V可被設置多於一個的充 電/輸運站290A，290B (每一站亦可作爲用來存取該多層 -50- 201242865 式垂直輸送機架25 0的各部分的輸運地點），其被配置成 例如一沿著引導線1 3 0C2之直線矩陣。在此例子中，有兩 個充電站29 0A’290B，其對應於該多層式垂直輸送機儲 存層板2 50上的兩個物件固持位置。應指出的是，在該等 實施例中’該門廊內130V內可具有適當數量的充電站， 其對應於該多層式垂直輸送機儲存層板250上之物件固持 位置的數量。 每一門廊130V的充電站290A，290B可被連接至一 共同的電力供應器2 90 P，這將於下文中詳細描述。該共 同的電力供應器29 0P可對多個自動運送車站140的充電 站290供應電力。例如，自動運送車站140可被一個設置 在另一個之上成爲一垂直的陣列或堆疊物，使得當自動運 送車110在該等自動運送車站140內時，每一揀取樓層 26 1 -2 64的自動運送車1 10係沿著實質平行的路徑移動。 該倉儲系統可包括一或多個電力供應器2 9 0P，每一電力 供應器都可被連接至一或多個揀取樓層26 1 -264的充電站 290。進入及離開該自動運送車站140的門廊130V且沿著 例如引導線130C2到達充電站290的自動運送車110可藉 由一儲存在該倉儲系統的任何適合的控制器內的一進入-充電-離開協定來與其它要離開充電站290或要到充電站 290充電的自動運送車110被同步化（synchronized)， 用以將一給定的門廊13 0V的所有充電站290的實質完全 利用最大化（如，實質地避免自動運送車110的充電與其 它移動至同一門廊13 0V之自動運送車11〇的進入/離開程 -51 - 201242865 序相互干擾）。每一多層式垂直輸送機可具有任 控制器1 50C，替如可程式的邏輯控制器，來控 層式垂直輸送機150的操作以及控制設置在門廊 的充電站290的電力供應，以提供對個別多層式 機150的層板250的進出途徑。 自動運送車110進入及離開門廊13 0V可用 管理器297 (level manager)來管理，該管理器 可包括一門廊管理器296 (圖26)。該層管理器 有任何適合的組織，用以例如管理在一或多個揀 在一或多個自動運送車站140堆內（如，一個設 個之上的自動運送車站140)、或在該倉儲系統 區內的自動運送車的操作。該層管理器297可用 的方式使用任何適合通信協定與自動運送車110 如，自動運送車1 10與層管理器297之間的通線 的雙向及/或單向通信、以Linux爲基礎的通信等 等實施例中，每一揀取樓層26 1 -264可具有各自 器297，用來控制或以其它方式管理自動運送車 別樓層上的運動及/或一個層管理器可管理多於 樓層26 1 -264。該層管理器297可被建構來使得 有效的自動運送車充電站290的位置並與一組 290G通信（圖18B，將於下文中描述）用以獲得 器的進出途徑及充電的自動運送車110的現況。 理器296可管理該等充電站290所在處的區域， 如該群組管理器290G要求進出該等充電站之前 何適合的 制個別多 1 30V 上 垂直輸送 例如一層 的一部分 297可具 取層上、 置在另一 的一地理 任何適當 通信。例 的或無線 等。在該 的層管理 1 10在各 一個揀取 它可追蹤 群管理器 該等充電 該門廊管 用以在例 決定進出 -52- 201242865 途徑是否可用。將於下文中描述的，如果在一門廊內的一 或多個充電站290是不可用的，則該門廊管理器296可關 閉具有該不可用的充電站290的門廊（如，拒絕進出，使 得自動運送車被引導至其它的門廊）。 透過任何適當的內建的控制器或管理器，每一自動運 送車110可與該層管理器通信，用以在該自動運送車Π〇 實施一充電循環以及實施與該自動運送車110所在之該揀 取樓層261-264上的一多層式垂直輸送機150的箱子單元 101交換。每一充電站290A，290B都包括用來與自動運 送車110上用於充電之自動運送車電容器110C的對應的 接點110D (如，充電器墊）界接的接點290C。接點290C 可以是任何適合的接點，譬如受彈簧力的接點或其它可致 動的接點’其被建構來在該自動運送車被放置在該充電站 290A，29 0B上方時與自動運送車11〇的接點110D接觸。 這些充電站接點290C可被設置在充電站29 0A，290B，使 得它們在自動運送車110被放置來與該多層式垂直輸送機 層板25 0的一固持位置界接及交換時與自動運送車n〇的 接點110D界接。如上文所述，該等自動運送車11()透過 —進入-充電-離開協定進出該等自動運送車站140的門廊 13 0V’該協定可包括取得移動至該等充電器接點290C上 的許可（在物件與該多層式垂直輸送機交換之前）、開始 充電 '及取得離開的許可（在物件與該多層式垂直輸送機 交換之後）。該層管理器297可被建構來管理進出該等門 廊130V及該等充電站290A，290B的要求並作出是否允 -53- 201242865 許自動運送車110進入、離開及開始/結束充電的決定。 一充電可在該自動運送車110已獲得進入許可並停在一對 應於該自動運送車110將揀取/放置一物件之層板250上 的位置的一充電站290A，290B處的時候開始。該自動運 送車110的充電可在它將一物件轉運於該自動運送車110 與該層板250之間的期間或該轉運已完成之後發生。此外 ，該自動運送車110可在最近的可利用的（如，未被佔用 的）門廊130V處充電，而不妨礙其它的輸運（非限定性 的機會充電）。 在該等實施例中，自動運送車11〇可在離開該多層式 垂直輸送機門廊130 V之前實施一快速充電，在此時點該 多層式垂直輸送機控制器150C可通知一群組管理器290G (圖18B) —快速充電已達成。該自動運送車110的快速 充電可以是一種在該電力供應器290P從固定電流模式（ 如，該電力供應是以可變電壓來輸送最大電流輸出）切換 至固定電壓模式（如，電力供應已達到一可變電流的最大 電壓輸出設定點）的時候時終止（或用於終止的訊號已準 備好）的充電。應指出的是，自動運送車110可留在充電 站2 90 A，29 0B繼續充電（如，以達到額外（top-off)或 完全充電），直到該控制伺服器1 20或該倉儲系統的其它 適合的控制器認爲需要移動該自動運送車110爲止，替如 讓另一自動運送車110進入該等充電站29 0A，29 0B。 在快速充電期間，自動運送車110的電容器11 0C可 以是在一不考量從該電力供應器29 0P至該電容器110C的 -54- 201242865 損耗的電壓。在一額外或完全充電期間，該讓電容器達到 該被施加的電壓水平的延長期間（Tau = R*C ， 5*Tau«99.3%的最終電壓，其中R爲該電容器及該電力供 應感知線（圖1 9 )與該電容器之間任何電阻的結合的ESR )。該群組管理器290G可以是管理在共用一電力供應器 的多個揀取樓層261 -2 64上之自動運送車110的群組充電 的合作界面（cooperating interface )的一個集合（如，在 一個時間對多於一個的自動運送車充電，其中一群組係指 一群被同一電力供應器充電的的自動運送車）。在該等實 施例中，每一電力供應器290有一個群組管理器290G或 每一群組管理器可服務多個電力供應器。在該等實施例中 ，如果該電力供應器290P被賦能（enabled)且可作用的 話（如，電力被轉移至該充電站，等待被取得），該等自 動運送車110可能無法進出一充電站290。在該等實施例 中，在充電且該電力供應器290P停止傳輸電力至該充電 站290之後，該群組管理器290G可促使該自動運送車 H0留在該充電站290 —段預定的時間長度，該時間長度 在一例子中可以是約280毫秒。在其它例子中，該自動運 送車110在該電力被關掉之後留在該充電站290上的該時 間長度可以是任何適合的時間長度。 參考圖19及20，每一電力供應器290P有四個充電 站 290A，290B，290A2，290B2 » 該等充電站 290A， 290B - 290A2 » 290B2可被垂直地放置在一單一多層式垂 直輸送機150區域內且被設置成矩形組態，其中有兩個充 -55- 201242865 電站290A，290B在一個揀取樓層上及兩個充電站 ，290B2在另一個不同的揀取樓層上，其中該等揀 可彼此相鄰。例如，參考圖18A，在此電力供應器 ，揀取樓層261，262的充電站將共用一電力供應 取樓層2 63，2 64的充電站將共用一電力供應器等 指出的是，在該等實施例中，在每一揀取樓層上可 何適合數量的充電站與來自一或多個其它揀取樓層 適合數量的充電站共用一電力供應器。每一電力 290P可被設置在離它所服務的充電站290 —預定 之內。例如，電力供應器290P可被設置在離充電这 ，290B，290A2，2 90B2小於18英吋處用以例如降 耗損及提高充電產出率。應指出的是，在該等實施 該電力供應器290P可被設置在離它們各自的充電 任何適當的距離。 如上文中描述的，每一電力供應器可被例如一 多層式垂直輸送機150的控制器150C，或任何其 的控制器所控制。在該等實施例中，可以有多達約 電力供應器290及多達約64個充電站290與一單 層式垂直輸送機150相關聯，其中該等充電站係設 的揀取樓層上。在該等實施例中，該控制器150C 構成使得當該多層式垂直輸送機被停止（如，送至 的電力被切斷）時，該等充電站2 90將保持可使用 至該等充電站290及該多層式垂直輸送機的電力可 地失能（disable) /賦能（enable)。 290A2 取樓層 組態中 器，揀 等。應 以有任 的任何 供應器 的距離 占 290A 低線路 例中， 站 290 個別的 它適合 16個 —的多 在不同 可被建 輸送機 的。送 被獨立 -56- 201242865 參考圖18B及19，且爲了示範的目的以揀取樓層262 爲例，該自動運送車充電處理可在自動運送車11〇進入該 多層式垂直輸送機區域（如’自動運送車站140)之前即 被啓始。該自動運送車開始與該群組管理器290G通信以 要求移動至一特定的充電站2 90 A，290B上的許可。在該 等實施例中，該自動運送車要與哪一個充電站290A， 290B界接的決定係與哪一個多層式垂直輸送機層板250 是預想中的目標及該將被輸運的物件將從哪個層板250的 位置被揀取或將被放置到哪個層板250的位置有關。 該自動運送車可留在充電站290A，290B區域之外（ 如，該多層式垂直輸送機的將載/卸載區域）直到它從例 如該控制伺服器1 20 (或其它適合的控制器，譬如該層管 理器的門廊管理器）接收到它進入該充電站290 A，290B 是安全的許可爲止。在一例子中，該群組管理器290G可 知道在該揀取樓層上（其在此例子中爲揀取樓層262 )任 何其它的自動運送車110可進出該充電站290A，290B且 可指示該控制器150C關掉電力供應器290P以允許一自動 運送車110進入該充電站290A，290B。在一例子中，該 群組管理器290G可具有裁量權來決定何時關掉該電力供 應器290P及何時允許該自動運送車11〇移動至該充電站 290A ， 290B 上。201242865 VI. Description of the invention: [Related application description] This application is a non-provisional application and claims US Provisional Application No. 61 / 4 23 on December 15, 2010. No. 242, US Provisional Application No. 61/423, which was filed on December 15, 2010, No. 298, And US Provisional Application No. 6 1 / 423, which was filed on December 15, 2010, Right 402, The disclosures of these applications are hereby incorporated by reference. TECHNICAL FIELD OF THE INVENTION The present invention relates to a material handling system, More specifically related to automated storage systems. [Prior Art] The warehouse used to store the box unit generally contains a series of storage racks, Its available transport device, Such as a stacker, It can be moved within the walkway between storage racks or trolleys and lifts moving along the storage rack | or with other lifting and transporting devices. These transport devices can be driven either automatically or manually. In general, When the box units are stored in a multi-storey shelf, The box units are placed on different levels of the rack by lifting devices on the transport unit. When the box units are stored in shelves on different floors or shelves of the storage structure, The box units are typically transported between floors while being placed on the transport devices. The transport devices are moved across an upper ramp and a lower ramp between the floors. In other examples, The transport device on which the -5-201242865 box unit is placed is raised and lowered by the elevator. usually, A box unit carried by the transport device and stored on the storage rack is housed in the carrier. Such as a storage container, 譬 such as a tray, In the transport (tote) or in the transport box, Or on the pallet (Pallet). usually, Inbound pallets (such as from the manufacturer) that come into the warehouse contain shipping containers (such as 1' boxes) of the same cargo type. The delivery pallets that leave the warehouse and are sent to, for example, a retailer are made up of what is called a mixed pallet. It can be understood that 'these hybrid pallets are made up of shipping containers (such as 'transports or boxes) that accommodate different types of goods. For example, cardboard boxes, Etc.) made. E.g, A box on the mixed pallet accommodates food miscellaneous goods (canned soup, A soda can, etc.) and another box on the same pallet can hold makeup or household cleaning or electronic items. Some boxes can accommodate different kinds of items in a single box, the traditional storage system. Including traditional automated warehousing systems, It does not help to produce hybrid cargo pallets efficiently. In addition, Store the box unit in, for example, a vehicle, Transport, In the bracket or on the pallet, it is generally not possible to obtain individual box units in the vehicle or pallet without manually transporting the carrier or pallet to a workstation to manually or automatically remove the individual box units. . It is advantageous to be able to transport uncontained or unpalletized box units between the shelves of a storage facility without the influence of the movement of the transport device between the shelves. While the automated transport vehicle transports the item throughout the storage system, It is also beneficial to be able to operate in full effectiveness. 201242865 [SUMMARY AND EMBODIMENT] FIG. 1 schematically illustrates an exemplary warehousing system 1 〇 0 in accordance with an embodiment. Although the described embodiments will be described with reference to the embodiments shown in the drawings, But it should be understood that The disclosed embodiments can be embodied in many other forms. In addition, Any suitable size, Shapes or types of elements or materials can also be used. According to the embodiments, The warehousing system 100 can be operated in a retail distribution center or warehouse to, for example, complete an order received by a retail store regarding a box unit (the box unit used herein is not stored in the cradle, Items on the tote or on the pallet). It should be noted that The box unit can include a box of items (eg, Canned soup box, The box of grains 'etc.') is designed as individual items that can be picked up from a pallet or placed on a pallet. According to the embodiments, Shipping box ( s h i p p i n g c a s e ) or box unit (eg, cardboard box, Bucket 'box, Crate, Jar, Or any other suitable means for holding the box unit can be of different sizes and can be used to hold items at the time of shipment and can be constructed so that they can be palletized for shipment. It should be noted that 'when a bundle or a plurality of pallet boxes arrive at the storage and retrieval system' the contents of each pallet can be uniform (eg, Each pallet holds a predetermined number of identical items - the pallet holds the canned food while the other pallet holds the grain bin) and when the pallet leaves the storage and retrieval system, The pallets may comprise any suitable number of different items and combinations of such items (eg, Each pallet can hold different kinds of items - one pallet holds the canned soup 201242865 combined with the grain box). In these embodiments, The warehousing system described herein can be applied to any environment in which the box unit is stored and retrieved. The warehousing system 100 can be constructed, for example, to be installed within an existing warehouse structure or designed for use in a new warehouse structure. In these embodiments, The warehousing system 1 can be substantially similar to the US provisional application No. 6 1 / 423, which is described, for example, on the name of "WAREHOUSING SCALABLE STORAGE STRUCTURE", which was filed on December 15, 2010. No. 340, And U.S. Patent Application No. 1 2 / 7 5 7, entitled "STORAGE AND RETRIEVAL S Y S Τ Ε ”", filed on April 9, 2010. 3 8 1 in the storage system, The contents of these applications are hereby incorporated by reference. In an embodiment, The warehousing system 100 can include in-feed and out-feed transport devices. For station 170, 160, Multi-layer vertical conveyor (MVC) 150A, 150B, Storage structure 130, And a number of automatic delivery vehicles 110 (referred to herein as " Automatic delivery vehicle (bots)", It can also be operated like a transport device. In these embodiments, The storage system may also include a robotic transport device or an automated transport vehicle transport station 6140 (Figs. 6A-6D). It can be set, for example, at the automated transport station 140A. 14 0B, The automated transport stations may provide an interface to the automated transport vehicles 与0 and the multi-layer vertical conveyors 150A. Between 1 5 0B. In these embodiments, Any suitable transport device can be placed in any position and in the MVC 150A, 150B on both sides of the shelf, Used to remove M VC 150A from any laminate or platform layer or location or elsewhere 150Β remove or remove material or replace or place material to MVC 150Α, -8- 201242865 15 OB. The feed transport station 170 and the delivery transport station 160 can be associated with their respective multi-layer vertical conveyors 150A, 150B — operation, The two-way transport object is moved back and forth between one or more shelf layers of a multi-layer storage structure 130. It should be noted that Although such multi-layer vertical conveyors are described herein as exclusive inbound conveyor 150A and outbound conveyor 150B, But in the embodiment, Conveyor 150A, Each of 150B can be used for both bin units/objects from both the inbound and outbound transporters of the storage system. The multi-layer vertical conveyor 150 can be any suitable lifting device for transporting the box units between the shelves of the storage system. Some non-limiting suitable examples of such multi-layer vertical conveyors are disclosed in the U.S. Provisional Application entitled "LIFT INTERFACE FOR STORAGE AND RETRIEVAL S Y S T E M S", for example, February 1, 2005. And the name of the April 2, 2010 issue is “LIFT INTERFACE FOR STORAGE AND RETRIEVAL S Y S T E M S, , U.S. Patent Application No. 1 2/75 7, No. 3,549, the disclosure of which is hereby incorporated by reference, in its entirety in its entirety the entire entire entire entire entire entire entire entire entire entire entire entire entire entire disclosure Found in No. 220, which is incorporated herein by reference. E.g, The multi-layer vertical conveyor 150A, 150B can have any number of support plies 250 (Fig. 18A, 18B) a predetermined storage layer 26 1- 2 64 (Fig. 2) for transporting the box units to the storage system. The support laminates 250 can have cross-beam support members. It is constructed to allow the fingers of the transport arm 11 〇A of the automated transport vehicle 11 (Fig. 18A) to pass between the crosspieces to transport the box unit 101 (Fig. 18A) -9 - 201242865 to the conveyor And transporting the box unit from the conveyor. In other embodiments, The box unit can be indirectly transported to the automated cart 110 and the multi-layer vertical conveyor 150A. Between 150B, E.g, It is described in U.S. Patent Application Serial No. 1 2/757, entitled "STORAGE AND RETRIEVAL SYSTEM". No. 220 (which has been referred to above and incorporated herein). It should be noted that The transport of the box unit between the automated carts 110 and the multi-layer vertical conveyors can occur in any suitable manner. It can be understood that The storage system 1 can include a plurality of multi-layer vertical conveyors 150A for feeding and delivering, 150B, It can be accessed, for example, by an automated cart 110 disposed on each shelf of the multi-layer storage structure 130. Having the automated cart 110 on each shelf layer traverse the entire shelf layer, One or more of the box units are available from a multi-layer vertical conveyor 150A, 150B is transported to each storage space on a shelf and transported from each storage space to the multi-layer vertical conveyor 150A on a shelf. Any one of 150B. The automated carts 110 can be constructed to transport the box units between the storage space on the storage rack 600 (Fig. 18B) and the multi-layer vertical conveyors by picking them at a time (e.g., Substantially directly between the storage spaces and the multi-layer vertical conveyors.) Further, for example, The designated automated cart 110 picks up the box unit from the deck on the multi-layer vertical conveyor. The box unit is transported to a predetermined storage area of the storage structure 130 and the phase sub-unit is placed in the predetermined storage area (or vice versa). The automatic transport Π0 can be constructed to carry the box unit, For the retail goods described in -10- 201242865 above, Put into the picking stock in one or more shelf layers of the storage structure 130, The numbered item is then selectively obtained for shipping the numbered item to, for example, a store or other suitable location. For example, on April 9, 2010, the name is “AUTONOMOUS TRANSPORTS FOR STORAGE AND RETRIEVAL S Y S TEM S, , U.S. Patent Application No. 1 2/75 7, As described in 3 1 2, The disclosure of this disclosure is hereby incorporated by reference. Other suitable examples of the automated cart 110 are described, for example, in U.S. Provisional Application No. 6 1 /423, entitled "BOT PAYLOAD ALIGNMENT AND SENSING", December 15, 2010. No. 220, US Provisional Application No. 6 1/423, entitled "AUTOMATED BOT WITH TRANSFER ARΜ", dated December 15, 2010, 3 65, The US provisional application No. 6 1 / 423, entitled "BOT HAVING HIGH SPEED STABILITY", dated December 15, 2010, 3 5 9 , And the US provisional application No. 6 1 /42 3, entitled "AUTOMATED BOT TRANSFER ARM DRIVE S Y S T E Μ ", dated December 15, 2010, 3 88, The entire contents of these applications are hereby incorporated by reference. As described above, The automated cart 110 can be stacked with a multi-layer vertical conveyor 150 in any suitable manner. 150 interface. In an embodiment, The automated cart 110 can be constructed to pass through, for example, the transport arm 110 of the automated cart 110 (which can have a crossbar support layer for use with a multi-layer vertical conveyor) (Fig. 18A) relative to the auto The frame of the transport vehicle is extended to the multi-layer vertical conveyor 150A, 15 0B direct connection. In these embodiments, Automatic carrier 110 -11 - 201242865 Available in other suitable ways, ® through the automated transport vehicle transport station 6140 and the multi-layer vertical transporter 150A disposed on the shelves of the multi-layered storage structure 130, 150B is indirectly connected. As mentioned above, The storage structure 130 can include a plurality of storage rack modules 600 (Fig. 18B). Wherein each of the storage shelf modules in the embodiments comprises an array of storage spaces (which are arranged on the plurality of layers and have a plurality of columns on each of the layers), a picking walkway 130A formed between the rows of storage spaces, And at least one transfer deck 130B. In these embodiments, The picking walkway 130A and the transport decks 130B can be configured to allow the automated transport vehicle 110 to traverse the layers of the storage structure 130, Any storage space for transporting the box unit to the storage structure 130 and any multi-layer vertical conveyor 150A, 1 50B between any laminates. The picking walkways 130A and the transport decks 130B also allow the automated transport vehicle 110 to place the bin units into the picking bay and obtain the numbered bin units. In these embodiments, Each floor may include an automated cart transport station 6140 to accommodate the multi-layer vertical conveyors 150A, The object exchange between 15 0B and the automated transport vehicle on a storage layer of the storage structure 130. It can be understood that The warehousing system can be constructed to allow random access to the storage space. E.g, When the box unit is picked from the storage structure 130 or the box unit is placed into the storage structure, All of the storage space in the storage structure 130 can be treated substantially equally when deciding which storage space is available. Allows any large enough storage space to be used to store objects. The storage structure 130 can also be configured such that the storage structure has no vertical or horizontal columns. E.g, Each multi-layer vertical conveyor 150A, 150B for -12- 201242865 All storage space within the storage structure 1 3 0 (eg, The storage space array can be shared so that any automated cart 110 can access each storage space and any multi-layer vertical conveyor 150Α 150 can accept any storage space from any shelf. The unit ' enables a plurality of shelf layers in the array of storage spaces to function substantially as a single shelf layer (eg, There are no vertical partitions). These multi-layer vertical conveyors are 150 Α, A box unit (e.g., ' no horizontal partition) from any storage space on any of the shelves of the storage structure 130 can also be accepted. It should be noted that The warehousing system can also be constructed such that each multi-layer vertical conveyor serves a predetermined area of the storage space array. The storage structure 130 can be substantially similar to the US Provisional Application No. 61/42 3, which describes the name "WAREHOUSING SCALABLE STORAGE STRUCTURE", which was filed on December 15, 2010. U.S. Patent Application No. 340, filed on April 9, 2010, entitled "STORAGE AND RETRIEVAL SYSTEM", No. 1 2/757, 38 storage structure in No. 1, It has been previously referred to and its entire contents are hereby incorporated by reference. One or more central system control computers (eg, Control server) 1 20 A US Patent Application No. 1 2/7 5 7, entitled "CONTROL SYSTEM FOR STORAGE AND RETRIEVAL SYSTEMS", which is substantially similar to that described on April 9, 2010. U.S. Patent Application Serial No. 1 2/7 57, entitled "STORAGE AND RETRIEVAL SYSTEM", The method of No. 220 (the entire contents of which are incorporated herein by reference) to coordinate or control the multi-layer vertical conveyor 150A, 150B operates with the other suitable features of the warehousing system 100 -13 - 201242865. E.g, The control server 120 can control the operation of the storage system 100 via, for example, any suitable communication network 180. The storage structure 1 30 of the embodiments can be configured to, if desired, The storage structure may be substantially free of vertical or horizontal array spacers. E.g, Each of these multi-layer vertical conveyors 150A, 150B for all storage spaces or substantially all storage spaces within the storage structure 1 30 (eg, The storage space array) can be shared, This allows any automated carrier 110 to access each storage space and any multi-layer vertical conveyor 150A, 150B accepts box units from any storage space on any floor. Having a plurality of shelf layers in the array of storage spaces substantially function as a single shelf layer (e.g., There are no vertical partitions). Conversely, From each multi-layer vertical conveyor 150A, The box units of any of the layers of 150B can be transported to any or each storage space of the entire storage structure or to each storage space of each of the layers of the storage structure. The multi-layer vertical conveyor 150A, 150B can also receive a box unit from any storage space on any of the storage structures 130 (eg, There is no horizontal partition). For non-limiting purposes, Suitable examples of such multi-layer vertical conveyors can be found in U.S. Patent Application Serial No. 1 2/75, entitled "LIFT INTERFACE FOR STORAGE AND RETRIEVAL S Y S T E M S " U.S. Patent Application Serial No. 1 5/75, entitled "STORAGE AND RETRIEVAL SYSTEM" Found in No. 220, The content of this application is hereby incorporated by reference. Referring now to Figure 2A, These multi-layer vertical conveyors will be described in detail. It should be noted that The input multi-layer vertical conveyor 150A and the phase-14-201242865 related feeder station 170 will be described. But the output of the multi-layer vertical conveyor 150B, The automated cart transport station 6140 and the transport station 160 that is delivered may be substantially similar to the mating portions for feeding described below. Only the direction of material flow is to leave the storage system 100 instead of entering the storage system 100» It is understood that The warehousing system 100 can include a plurality of fed and fed multi-layer vertical conveyors 150A, 150B, It can be accessed, for example, by the automated cart 110 on each floor of the warehousing system 100. Having one or more box units available from a multi-layer vertical conveyor 150A, 150B is transported to each storage space on a shelf and transported from each storage space to any multi-layer vertical conveyor 150 A on one floor, 150B. The automated cart 110 can be constructed to transport (individual or combined) box units between the storage space and the multi-layer vertical conveyor with one pick (eg, Essentially directly between the storage space and the multi-layer vertical conveyor). A box unit that is so transported in one pick can be referred to as a picking surface. Further example, The designated automatic transport vehicle 110 picks up the box unit or picking surface from a layer of a multi-layer vertical conveyor, The box unit is transported to a predetermined storage area of the storage structure 130 and the box unit or picking surface is placed into the predetermined storage area (and vice versa) 大体上 substantially, The multi-layer vertical conveyors include a payload layer 73 0 (Fig. 2 A-4) attached to a chain or belt. It forms a continuously moving or circulating vertical loop that moves at a substantially fixed rate (the shape of the loop shown in the figures is merely exemplary and in an embodiment the recoil may have a rectangular shape and a braid shape) Any suitable shape), The layer 730 is made using the "bead" principle called -15-201242865 for continuous conveyance. It is not necessary to slow down or stop loading or unloading at any point in the loop. In these embodiments, It should be understood that The payload layer 73 0 can be driven by any suitable drive mechanism. Fengruo rails, Gears and more. The multi-layer vertical conveyors 150A, 150B can be used by a server, For example, controlling the server 1 20, Or any other suitable controller control. One or more suitable computer workstations 700 can be used in any suitable manner (e.g., Connected to the multi-layer vertical conveyor 150A, either wired or wirelessly connected, 150B and the server 120 to provide, for example, inventory management, Multi-layer vertical conveyor function and control, And the completion of the customer's order. It can be understood that Computer workstation 700 and/or server 120 can be programmed to control the feeding and/or delivery of the conveyor system. In these embodiments, Computer workstation 700 and/or server 120 may also be programmed to control transport station 140. In these embodiments, One or more of the computer workstation 700 and the server 120 may include a control cabinet, A programmable logic controller and variable frequency drive are used to drive the multi-layer vertical conveyor 150 A, 150B. In these embodiments, The computer workstation 700 and/or server 1 20 can have any suitable components and configurations. In these embodiments, The workstation 700 can be configured to remedy exceptions or errors in the feed and/or delivery conveyor system with substantial assistance from the operator and communicate with the control server 120 an error recovery plan and/or vice versa . Still referring to FIG. 2A and also to FIG. 4, In these embodiments, The multi-layer vertical conveyor 150A can include a skeleton 710. It is constructed to support the driven components, For example, chain 720. Chain 720 can be coupled to laminate 73 0, It is movably mounted to the skeleton 710, The chain 720 of -16-201242865 implements substantially continuous movement of the layers 730 about the skeleton 710. In any of these embodiments' any suitable drive chain, Such as a leather belt or cable, It can be used to drive the layers 730. Each ply 730 can include, for example, a support member 930 and a platform 900. Support member 930 can extend from the platform 900 and be constructed to attach and mount the laminate 73 0 to, for example, one or more drive chains 720. The platform 900 can include, for example, any suitable shape of the skeleton 911. It is a generally "U" shaped shape in this example (eg, One end of the two-sided member is connected by a cross member) And any suitable number of spaced apart fingers 9 1 0 extending from the skeleton 9 1 1 . The fingers 910 can be constructed to support picking faces 750' 752 (Fig. 2B)' wherein each picking face includes at least one uncontained box unit. In these embodiments, Each finger 910 is detachably fastened to the skeleton 9 1 1 to facilitate replacement or repair of the individual fingers 910. Finger 9 1 0, The skeleton 911 (and the support member 930) may be formed as a structure or platform defining the entirety of the seating surface. The seating surface contacts and supports the unboxed box units. It should be noted that The layer 730 is merely illustrative of a representative structure and in such embodiments, The deck 730 can have any suitable suitable for transporting the picking surface 750. 752 configuration and size, This will be further described below. It can be appreciated that the fingers 910 of each of the one or more of the picking surface support stations A-D define the seating surface, One or more of the box units of each picking surface are gated against the seating surface. As seen in Figure 5, The picking face on the support station may have restraints to prevent movement of the picking face relative to the support station (A-D). The spaced apart fingers 910 are constructed to interface with, for example, the transport arm of the automated transport vehicle 11 or the effector -17-201242865 and the feed transport station 170, Used to pick up the faces 750, The 752 is transported between the multi-layer vertical conveyor 150A and one or more of the transport stations 170 and the automated transport vehicles 110. In these embodiments, The spaced apart fingers 910 can be constructed as described below to interface with the automated cart transport station 6140. The multi-layer vertical conveyor 150A can also include a suitable stabilizing device. For a stable chain that is driven, Used to stabilize the laminate 730 during vertical movement. In an example, The stabilizing device may comprise a chain driven dog. It contacts the laminates in both the upward and downward directions to form, for example, three-point contact with the laminate support member 930. The drive chains 720 for the ply 730 and stabilizing devices can be drivably coupled to, for example, any suitable number of drive motors under the control of one or more of the computer workstations 700 and the control servos 120, for example. In these embodiments, Other examples for implementing the stability of the conveyor decks 73 0 are described in the following description. In these embodiments, Any suitable number of plies 73 0 are mounted and attached to the drive chains 720. As seen in Figure 2B, Each ply 730 can be constructed to carry, for example, at least two separate picking faces 75 5 0, 752 at the corresponding position A on the layer 730, Within C (eg, A single vertical conveyor is functionally equivalent to a plurality of independently operated conveyors disposed adjacent to each other). In these embodiments, As seen in Figure 5, The deck 730' can be constructed to carry, for example, four separate picking faces 75 0-7 5 3 positioned in corresponding positions A-D. In these embodiments, Each ply can be constructed to carry more than four picking faces. As mentioned above, Each pick -18-201242865 face may contain one or more unboxed bin units and correspond to a single automated cart 110. It can be understood that The space envelop or regional platform of each picking surface can be different. For example, The boxes that are not accommodated, For example, boxes that are transported directly by such multi-layer vertical conveyors come in a variety of sizes (eg, Different scales). and, As pointed out, Each picking surface may include one or more unacceptable boxes. therefore, The length and width of each picking surface carried by the multi-layer vertical conveyors can be different. In these embodiments, When different portions of the picking surface are transported by, for example, more than one automated transport vehicle 11 on different shelves of the storage structure 130, Each picking surface is disconnected between the automated carts 110. It can be understood that When a picking surface is disconnected, Each portion of the disconnected picking surface can be considered by the storage system 100 as a new picking surface. For the purposes of example alone, Referring to Figure 3A, 3B, Multi-layer vertical conveyor 150A, The layers 730 of 150B may be spaced apart from each other by a predetermined spacing P for the payment of 8 1 0 as described below. 820 is placed on or removed from the substantially continuously moving ply 730. Referring now to Figure 5 and as described above, These multi-layer vertical conveyors, For example, multi-layer vertical conveyor 150A, A box unit 1 (Fig. 1) from the feed transport station 170 is provided. As discussed above, The feed transport station 170 can include one or more depalletizing workstations, Conveyor 2 40, Conveyor interface / automatic transport vehicle loader 1001A, 1010B and conveyor mechanism 1 030. As can be seen in Figure 5, The box unit 1000 is moved by the conveyor 240 from, for example, the decanter station. In this example, Each of the locations A-D is supplied with a box unit by its respective feed station. 19- 201242865 It can be understood that Although the transport of the box unit is described by taking the layer 73' as an example, But it should be understood that The transport of the box unit to the deck 73 0 can also be carried out in the same manner. E.g, Position A can be supplied to the transport station 170A and position C can be supplied by the feed station 170B. Referring also to Figure 2A, Used to supply the similar sides of the laminate 73 0 (the positions A and C arranged side by side in this example form the first side 1 0 0 of the laminate 73 0, And the positions B and D arranged side by side to form the feed transport station 170A of the second side 1051 of the layer 73 0, 170B may be placed one above the other to form a horizontally staggered stack (an exemplary stacked configuration is shown in Figure 2A). In these embodiments, The stacking arrangement can be constructed such that the one or more transport stations can be vertically aligned above the other station and extend into different lengths within the multi-layer vertical conveyor to supply, for example, position A and B or position C and D, Where positions A and B (and positions C and D) are set one by one in front of the other, Instead of being set side by side. In these embodiments, These feed stations can have any suitable configuration and positional configuration. As seen in Figure 5, The first side 105 0 and the second side 1051 of the layer 73 0 are loaded (and unloaded) in opposite directions. So that each multi-layer vertical conveyor 150A is placed in the corresponding transport zone 2 95A, Between 295 B, The first side 1050 is bounded by the transport area 295B and the second side 1051 is bound to the transport area 295A. In these embodiments, Stacker 1010A, The 1010B can be constructed to form the box units 1 000 as individual picking faces 75 0-753 prior to loading the bin units 1 000 to the respective positions A-D on the multi-layer vertical conveyor 150A. In the embodiment of -20-201242865, The computer workstation 700 and/or the control server 120 can provide instructions or appropriately control the stacker ιοί 0A, 101 0B (and/or other components of the feed station 170) stacks a predetermined number of objects to form picking faces 75 0-753. The stacker 1010A, The 1010B aligns the box unit in any suitable way (eg, Let one or more sides of the objects be flush, Etc.) and, for example, bringing the objects together. Stacker 1010A, The 1010B can be constructed to transport the picking surface 75 0-7 5 3 to each conveyor mechanism 1030, The picking faces 750-753 are transported to the respective deck positions A-D. In these embodiments, Conveyor mechanism 1030 includes a belt or other suitable feed device for moving picking faces 75 0-753 to transport platform 1 060. The transport platform 1060 can include fingers for supporting separation between the picking faces 75 0-75 3, The finger 9 1 层 of the layer 73 0 is constructed to pass between the fingers of the transport platform 1 060, Used to lift (or lower) the picking surface 75 0-7 5 3 from the transport platform 1 060. In these embodiments, The fingers of the transport platform 1060 are movable and are used to insert the picking faces 75 0-753 into a path similar to that described below with respect to the automated cart transport station 6140 into the deck 73 0 . In such embodiments, The feed conveyors 170 (and the delivery station 160) can be constructed in any suitable manner. Used to move the box unit (eg, The picking surface formed by the box unit is transported to each of the multi-layer vertical conveyors 150A, 150B or from each multi-layer vertical conveyor 150A, 150B transported away. It should be noted that Although the automatic transport vehicle transport station 6140 and the multi-layer vertical conveyor 150A, The interface between 150B is described, But should be understood -21 - 201242865 is, The automatic transport vehicle 110 and the multi-layer vertical conveyor 150A, The interface between 150B occurs in a similar manner (eg, U.S. Patent Application Serial No. 12/757, entitled "AUTONOMOUS TRANSPORTS FOR STORAGE AND RETRIEVAL SYSTEMS", issued April 9, 2010, In the 312th, Its content has been referred to above and is incorporated herein by reference. For the purposes of example alone, Referring now to Figures 2B and 6A-6D, The multi-layer vertical conveyor 150A will pick the face 750, The 752 is transported, for example, from a feed station 170 (or other suitable device or loading system) to, for example, an automated cart transport station 6140 associated with each shelf within the storage structure 130. In other examples, Picking face 750, 752 can be transported directly from the multi-layer vertical conveyor 150A to the automated cart 110 as will be described below. It can be understood that An automated cart transport station 6140 is disposed on each of the shelves of the storage structure adjacent to the path of movement of the deck 73 0 of the individual multi-layer vertical conveyor 150A. In these embodiments, There is an automated transport vehicle transport station 140 corresponding to each of positions A and C (and positions A-D of deck 730') on the deck 730. E.g, A first automated transport vehicle transport station 140 can remove the payload 750 from position A on the deck 730. The other automated cart transport station 140 can remove the picking surface 752 from the position C on the deck 73 0. and many more. In these embodiments, An automated cart transport station 140 can be used to position the box unit from position A on deck 73 0, Take more than one location of C or place it there. E.g, An automated cart transport station 140 can be constructed to pick the pick surface 750, 752 from position A of the floor 73, Take away at one or more locations of C. In these embodiments, Referring to Figure 5, An automatic transport vehicle transport station 140 can be built -22-201242865 to pick up the surface 750, 752 from position A of first side 1050 of ply 730', Take one or more positions of C, Another automated cart transport station 140 can be constructed to pick the pick surface 751, 753 from the position B of the second side 1051 of the layer 730', Take one or more locations of D. In such embodiments, An automated cart transport station 6140 can have an access panel 730 for accessing Any suitable configuration of any suitable number of positions A-D of 73 0'. Each automated transport vehicle transport station 140 can include a skeleton 11 One or more drive motors 1110 and a carriage system 1130. The skeleton 1100 can have any suitable configuration for coupling the automated cart transport station 140 to, for example, any suitable support features (e.g., horizontal or vertical supports) of the storage structure 130. The carriage system 1 1 30 is movably mounted to the skeleton 11〇〇 via rails 1120. The rail is constructed to permit the carriage system Π 30 to move between the retracted position and the extended position, This is shown in Figures 6A and 6B. The bracket system 1130 can include a bracket base 1132 and fingers 113 5 . The fingers 1135 can be mounted to the bracket base 1132 in a spaced apart configuration such that the fingers 1135 extend from the bracket base 1 1 3 2 in a cantilever fashion. It should be noted that Every finger! The 丨3 5 is detachably attached to the cradle base 1132 to facilitate replacement or repair of the individual fingers 1135. In these embodiments, The fingers and bracket base can be a one-piece, one-piece construction. The finger 1135 of the automated transport vehicle transport station 6140 can be constructed to pass through a multi-layer vertical conveyor 150A (Fig. 1) between the fingers 910 of the deck 730 (Fig. 4) for moving the picking surface, such as the picking surface 115 (which may be substantially similar to the picking surface 750-753), from the deck 730 go. The automated cart transport station 140 can also include a payload placement device u 4 , -23-201242865 retractably extending in the direction of arrow 1 1 8 1 between, for example, the spaced apart fingers 1135 The placement of the picking surface 1150 is performed in a predetermined orientation relative to the automated transport vehicle station 140. In such embodiments, the cradle system 1 130 can have any suitable configuration and/or components. The one or more drive motors 1110 can be mounted to the bobbin 1100 for causing the extension/retraction of the carriage system 1130 by driving a belt or chain for any exemplary purpose, such as for example purposes. Any suitable motor that extends/retracts the device 1140. In such embodiments, the cradle system and placement device can be extended and retracted in any suitable manner. In operation, also referring to Figures 2C, 2D, 3A and 3B, the incoming picking surface (e.g., transported to the picking surface of the storage system including one or more box units), such as picking surface 1150 Loaded into the multi-layer vertical conveyor 150A and will circulate the multi-layer vertical conveyor 150A and will be removed from one of the other conveyors, for example by one or more automated transport vehicles 110, for placement into A storage area of the storage structure (blocks 8 000 and 8010 of Figure 8). As will be described hereinafter, in the embodiments, the box units are loaded into the input of the multi-layer vertical conveyors 150A, 150B (e.g., at the corresponding feeder input side of the transport station 170 and each The automated transport vehicle transport location on the storage shelf layer can be substantially integrated with the multi-layer vertical conveyors 150A, 150B (e.g., at the corresponding output side of the transport station 160 and at the automated transport vehicle transport location on each storage shelf level). The loading and unloading sequence is irrelevant and vice versa. In an example, the picking surface 1150 can be loaded onto the ply 73 0 during the upward movement of the multi-layer vertical conveyor 150A and in the direction of the multi-layer vertical conveyor 150A. The period of the lower movement is discharged from the deck 730 -24-201242865. For example, the multi-layer vertical conveyor decks 7 3 0i and 2D) can be loaded sequentially, but when unloaded, the decks 730ii 73 0i are previously unloaded. It should be noted that the ply 730 can be loaded via one or more cycles of a vertical conveyor. At this point, the picking surface can be loaded onto the deck 730 73 0 in any suitable manner and unloaded. It will be appreciated that the position of the magazine unit on the multi-layer conveyor deck 730 defines the picking surface location of the pick-up of the automated transport vehicle 110. Thus, it can be appreciated that the picking jitter is undesirable, particularly when a picking surface is loaded on the conveyor for more than one cycle. The automated transport constitutes an embodiment in which any suitable payload or picking surface can be picked from the deck 73 0 regardless of the picking surface location or picking surface on the deck 73 0. The storage system 100 can include An automated cart for placing the automated cart on the adjacent deck 730 for picking up a desired pick for a predetermined deck 73 0 of the board 703, the automated cart 110 being placed in The picking surface is aligned). The car positioning system can also be configured to associate the movement of the automated carrier with the movement (e.g., speed and position) of the deck 730 in that the transport arm is extended and retracted from the multi-layer vertical transport list 150B. The purpose of the removal (or placement) of the predetermined deck 730 is for example purposes, and the automated cart 110 can be indicated by, for example, the electricity 00 or the control server 120 (Fig. 2A) to enter the transport to pick Take the path 1 1 50 in the moving path. When the picking face multi-layer vertical conveyor 150A is carried in the direction 730ii of the arrow 860 (the figure can be left in the multi-layer embodiment of the laminate or the vertical pick-up of the pick-up conveyor from the laminate What is the size? In these positioning systems, the faces are taken from the layers (such as the extension of the automatic arm, so that the I 150A > face. Only for the brain workstation to extend the arm 1 150 is the upper, since -25- 201242865 The finger of the transport vehicle transport arm (which can be substantially similar to the finger 1 1 3 5 of the automated transport vehicle transport station 1 40) passes through the finger 910 of the slab 7 3 0 for picking The face 1150 is transported from the ply 730 to the cradle system 1135 (eg, the picking face 1150 is lifted from the finger 910 by the relative movement of the ply 73 0 and the automated transport vehicle transport arm). It can be understood The spacing P between the laminates may be such that the laminate 730 can be transported to the multi-layer vertical conveyor while circulating around the multi-layer vertical conveyor at a substantially continuous rate. Any suitable distance from the automated transport vehicle 110. The automated transport vehicle transport arm Can be retracted (in a manner substantially similar to that shown in Figures 6C, 6D with respect to the automated cart transport station 140) such that the picking surface 1150 is no longer located on the deck 73 0 of the multi-layer vertical conveyor 150A. In the moving path, it should be noted that in these embodiments, when the automated cart transport station 6140 is used, the placement device 1140 can be extended through the finger 1135 and the bracket system 1130 (FIG. 6A) -6D) can be moved in the direction of arrow 1180, with the picking surface 1150 abutting the placement device 1140 for implementing the picking surface 1150 at a predetermined orientation relative to, for example, the automated cart transport station MO The carriage system 1130 can be fully retracted as shown in Figure 6D for transporting the picking surface 1150 to an automated cart 110. Referring to Figures 2D and 3B, in order to transport the payload In the outbound direction (eg, moving the picking surface out of the storage system), the automated transport vehicle 110 picks up ~ or multiple picking surfaces from a certain storage area of the storage structure, such as the picking surface 1150 (Fig. 8 Block 8020). The picking faces can be transmitted by the transport arm of the automated transport vehicle 110. Moving cart transport -26- 201242865 The arm extends into the multi-layer vertical conveyor 150B (which is substantially similar to the multi-layer vertical conveyor 150A) with respect to the extension of the frame of the automated cart 110. It should be noted that the picking surface (e.g., picking surface 1150) can be placed on the multi-layer vertical conveyor 150 in a first predetermined sequence (block 8030 of Figure 8). The first predetermined order may be in any suitable order. The substantially continuous rate of movement of the ply 73 0 in the direction of arrow 870 causes the finger 910 of the ply 730 to transport the fingers of the arm through the automated transport vehicle such that movement of the ply 730 will pick the face 1150 from the automatic The fingers of the transport vehicle's transport arm are lifted up. The picking surface 1150 is moved about the multi-layer vertical conveyor 150B to a delivery transport station 160 (which is substantially similar to the feed transport station 170) where the picking surface is substantially transported by a conveyor mechanism 1030. It is removed from the laminate 73 0 in a manner similar to that described above. The picking surface may be removed from the multi-layer vertical conveyor 150B by, for example, the delivery station 160 in a second predetermined sequence, the second predetermined sequence being different from the first predetermined sequence and unrelated (figure Block 8 of 8040). The second predetermined order is related to any suitable factor, such as the warehouse plan rules described below). As mentioned before, the picking surface transport between the conveyor station and the automated transport vehicle transport arm or transport station is carried out in a robot repeatable manner (the picking surface for each transport) The size and shape will vary. The picking surface movement on the conveyor is preferably substantially free of jitter or sway. It should be noted that the transport of the picking surface between the multi-layer vertical conveyors 150A, 150B and the feed and delivery transport stations 170, 160 may be substantially similar to the above described automatic transport vehicles 110 and automated transport. Car transport -27- 201242865 Station 6140 described in the manner. In such embodiments, the transport of the picking surface between the multi-layer vertical conveyors 150A, 150B and the feed and delivery transport stations 170, 160 may occur in any suitable manner. As seen in Figures 2C and 2D, the multi-layer vertical conveyor 150A, 150B layer 730 is a common side of the feed and delivery transport stations 170, 160 and the automated transport vehicle 110 from the deck 73 0. To load and unload. For example, the plies can be loaded and unloaded in a common direction 999 (e.g., only from one side of the ply 730). In this example, in order to facilitate loading of the multi-layer vertical conveyor from only one side of the deck, the multi-layer vertical conveyors 150A, 150B each surround one of the feed and delivery stations 170, 160, The picking surface 1510 is caused to move around the feed and delivery transport stations 170, 160. This allows the feed and delivery transport stations 170, 160 to be placed on the same side of the deck 73 0 as the automated transport vehicle 110 for transporting the picking surface (and the box units therein) back and forth to Multi-layer vertical conveyors 150A, 150B. It should be noted that in addition to satisfying the order, the control server 120 can be configured to command the box unit to remove the box unit from the storage system for any suitable purpose. In such embodiments, the allocation (e.g., sorting) of the box units in the storage system allows the box units within the conveyor to be used in any suitable order using only two sorting procedures. Any desired rate is provided for delivery to a pallet station. The control server 120 can also be constructed to cooperate with, for example, store plan rules when the order is satisfied, such that the box is in a first predetermined program (eg, for use and output of the automated cart) Optimized -28 - the first classification of the box unit of 201242865) is provided by the automated transport vehicle 110 to the individual multi-layer vertical conveyor 150B, and then in a second predetermined procedure (eg, for pallet devices) Optimisation of utilization and output and allowing the box to be configured in the pallet in an optimized manner to facilitate the second classification of the box unit for unloading and distribution of the retail distribution point or facility) The multi-layer vertical conveyor 150B is removed such that the box unit can be placed on the pallet or other suitable shipping container and/or device in a predetermined sequence for constructing the hybrid pallet (see above) Figure 8). For example, in the first category of box units, the automated cart 110 can pick up individual box units (e.g., box units) in any order. The automated transport vehicle 1 10 can traverse the picking aisles and transport decks (eg, around the transport deck) with the picked items until the item is to be transported to a predetermined multi-layer Vertical conveyor 15 0B is a predetermined time. In a second classification of the box unit, once the box unit is in the multi-layer vertical conveyor 150B, the box unit can be looped around the conveyor until a predetermined order of the box unit is to be delivered to the delivered transport station 160. The time is up. Referring to Figure 7, it should be noted that the order of the box units delivered to the pallet may correspond to, for example, store plan rules 9000. The store layout specification 9000 may correspond to, for example, a walkway layout within a customer storefront or a family of bin units may be, for example, a particular location or a cargo in which the pallet will be unloaded within the storefront. The order in which the box units are delivered to the pallet may also correspond to the characteristics of the box unit 9001, such as compatibility with other box units, size, weight, and durability of the box unit. For example, a box unit that would be crushed can be sent to the pallet after the heavier durable box unit is sent to the pallet -29-201242865. The first and second classifications of the box unit may allow for the construction of a hybrid pallet 9002 as described below. The control server 120 can have maximum load balancing in conjunction with the structural/mechanical architecture of the storage system. As described herein, the storage space/storage location is decoupled from transporting the box unit through the storage system. For example, the storage volume (e.g., the configuration of the box unit within the warehouse) is independent of transporting the box unit through the storage system and does not affect the yield. The storage array space can be substantially evenly distributed depending on the output. The horizontal classification (on each shelf) and the high speed automated transport vehicle 110 and the vertical classification performed by the multi-layer vertical conveyor 150B substantially create a storage array space relative to the storage array (eg, An output position of a delivery station 160) of the multi-layer vertical conveyor 150B is substantially evenly distributed. The substantially evenly distributed storage array space also allows the box units to be output from each of the delivered transport stations 160 at a desired substantially fixed rate such that the box units are provided in any desired order. . In order to achieve this maximum load balancing, the control architecture of the control server 120 may cause the control server 120 to not depend on the geographic location of the storage space relative to the multi-layer vertical conveyor 15 0B (this will result in storage space) The substantial separation of the storage structure 1 30 (eg, the storage array) is associated with the multi-layer vertical conveyor 150B (eg, the storage space closest to the multi-layer vertical conveyor is not assigned to the slave The multi-layer vertical conveyor moves out or moves to the box of the multi-layer vertical conveyor). Conversely, the control server 120 can map the storage space evenly to each multi-layer vertical conveyor 150B, and then selects from -30-201242865 moving cart 110, storage location and output multi-layer vertical transmission The super-layer board arrangement is such that any storage unit from the storage structure can be output from any desired multi-layer machine at a predetermined substantially fixed rate in the desired order to construct the board 9 002 (e.g., such delivered transport stations). Referring now to Figures 9A and 9B, it is shown in accordance with the embodiments 141. Station 141 may be adapted to feed station 160 and to transport station 170 in addition to the features described below. Feed station P An automated device that can be constructed to transport a child or other item, referred to as a picking surface, into or out of an MVC. In one example, the feed station 14 1 is interfaced with the slab 731 of the example vertical conveyor 150 (Fig. 10) (in the embodiment, the feed station 141 can be used to transport material). The device, station or other, or transport material from any suitable device, station. In one example, the feed station 141 accepts a picking surface from the maker 2010. The feed station can have any take-up Positioning a feature that places a reference material (eg, picking surface data) of the picking surface (relative to the transporting device) on a predetermined position on the vertical conveyor deck 731 such that the vehicle 110 1) A transport device that can pick up the picking surface stations 141 from the deck 73 1 can be converted to pass the picking surface 731. In such embodiments, the transfer can be made by any suitable party. Station 141 can have any suitable controller for operating the transport device in accordance with a predetermined procedure with the multi-conveyor 150 and the feed station for vertical transport of the box-mixed cargo at point 150B is similar in texture to payload. The box is transported as the multilayer 1 3 ). One of the appropriate picking stations at any suitable or other location is automatically transported in the multi-layer. This feed occurs to the layer. Layered Vertical Interact with the Picking -31 - 201242865 Face Builder 2010. The feed station 141 has a passive roller table 2112 for transport on 2014. The feed station 141 has a set of extendable or retractable paying stations 2020 that traverse the y-axis 2022 and the PLC has a control 2030. The roller 2012 can be selectively actuated by a drive motor and actuator 2040, wherein the sensor can be configured to detect the edge of the payload to be carried or otherwise and in combination with the encoder or with the controller 203 0 Used to place the payload as desired. Gear motor 2050 can be configured to selectively traverse the payload stage 2020 in the y-direction 2022. A shaft drive (not shown) can be provided to move the load stage 2020 in the direction 2024 for picking or placement onto the roller 2012. The y-axis motion of station 141 can be coordinated to receive payloads from platform 730, 731 or to transfer payloads to platform 731 by placing feed station 2020 to transport loads from MVC platforms 730, 731 (eg, Loads, boxes, or other items or transport loads (eg, payloads), boxes, and other items to MVC platforms 730, 731. The feed station 141 lifts the 2 axes 2024 of the straight member 2020 and transports the payload between the X and y axes, 2022. In the case of picking up the surface load on the roller 2012, when the finger 2020 is lifted up, a y in the direction 2 0 22 (which can stretch the fingers 2020) will occur, with The procedure of allowing the reward to be delivered to the appropriate M VC in a manner similar to that shown in Figure 5 can occur when a payload is transported from an MVC platform (e.g., platform or 731) to the feed station 141. Wherein the finger 2020 is retracted in the direction 2022 and then lowered in the z direction 2024 for driving the X-axis member and the controller to the Z-feed finger 730, the reward or Through the 20 14-shaped lower shaft dynamic load (〇 - 730 y axis - pick - 32 - 201242865), the payload is transported to the roller table 2012 for removal. Therefore, the feed station 141 provides an automatic device, which can Constructed to transport payloads or boxes to or within the MVC or to transport payloads from the MVC or platform. It can be understood that the picking surface is output from the storage system by an output MVC. The payload is different from the input picking surface payload. For example, it is shipped and loaded into the corresponding storage space in the storage structure and packaged. An input picking surface containing more than one box is divided into multiples during reacquisition, such that a sub-set of the input picking surface is retrieved, and the retrieved picking surface is different from the The picking face is input. Referring now to Figures 10-14C, there is shown a picking face builder configuration 2002 having a picking face builder 2010 and a feed station 141. Picking face builder 2010 (which is referred to hereinafter as PFB) ) can be an automated device for aligning single or multiple boxes or picking surface units to form the single or multiple picking surface payloads for picking, placement or other actions that will be shipped to any suitable In the direction or in other directions and in conjunction with any suitable transport, transport device or other device. Although the pick-up face builder 2010 is described with respect to the feed station 141, the pick-up face builder 2010 may be Or may be used without any transport station, shipping system, or other system. Also, the picking face builder 2010 may have more or fewer features. For example, shipping features (e.g., with the transport station 141 or other station) Associated feature) More or less sensing, alignment or other suitable features may be incorporated into the picking surface builder 2010. The picking surface builder 2002 configuration may be disposed in the storage system 1 In any suitable area, in an example, the picking surface builder 2010-33-201242865 can be disposed between the conveyor 240 (see also Figure 5) and the multi-layer vertical conveyor 150. For example, In alternate embodiments, the picking surface builder 2010 can be disposed downstream of the turn of the elbow 240E of the conveyor 240 (next or away from the turn) (eg, to change the direction of the box flow) It is connected to the multi-layer vertical conveyor 150 and upstream of the feed station 141. In such embodiments, the conveyor 150 does not necessarily have a turn at the elbow, in this example, the pick-up face builder can be interfaced with a substantially straight conveyor. In such embodiments, the pick-up face builder can be placed upstream of the multi-layer vertical conveyor and upstream of an automated carrier interface where the picking surface is transported to the automated cart. The picking surface builder 2010 can be constructed to arrange and group a set (e.g., one or more) of boxes to construct a picking surface for the boxes (e.g., contained or uncontained boxes). Each picking surface is picked up by the automated transport vehicle 11 (as a unit) for placement on or from the storage rack of the storage structure 130 and/or the deck 731 of the multi-layer vertical conveyor 150. . In the embodiments shown in the figures, the picking surface builder 2010 communicates with the multi-layer vertical conveyor 150 through the feed station 141 such that after the picking surface is constructed, the picking surface is It is transported as a unit to the multi-layer vertical conveyor 150. In such embodiments, each picking surface builder 2010 can be coupled to a dedicated location of the multi-layer vertical conveyor deck 731, such as the deck 73 1 having more than one picking surface holding position 2280, 2290 (Figure 13). In such embodiments, each picking surface builder can be constructed to selectively feed the box to each picking surface holding location 2280, 2290 of the deck 731 (eg, for one or more layers) The plate position of a common -34- 201242865 pick-up face builder). In such embodiments, the picking surface builder 2010 may be adjacent to one side of one of the other feed stations 141 and arranged such that the picking surface box leaves the picking surface builder via any suitable drive unit, The feed station 141 is entered in a direction at an angle (e.g., substantially orthogonal) with respect to the direction in which the feed station transports the picking surface to the multi-layer vertical conveyor. In such embodiments, the boxes may be arranged to move from the feed station 141 to the multi-layer vertical conveyor 150 in a direction or to any suitable angle relative to the picking surface. The picking surface builder 2010 transports aligned boxes (e.g., picking faces) to the feed station 141 and inspects the aligned bins for subsequent transport to the multi-layer vertical conveyor 150. The picking surface builder 2010 can have a χ-y-axis shifter 2100 (or a single shaft, such as a y-axis, a shifter), a cymbal presser 2120, a roller table 2140, and a PLC controller 2160. In one example, the ejector 2100 can have any suitable type and number of push plates 21 OOP for traversing the box across the support surface of the picking face builder 2010 (which can be movable). The push plate 2100P can be resilient and can be placed in contact with the boxes such that the boxes can be moved as they move in the direction of movement on the conveyor 240 (eg, the pusher 2100 is constructed) The push plates 2100P) are driven in the X and y directions to place the box on the picking surface builder 2010 to construct the picking surface. The xy axle shifter 2100 can be configured to accept a bin such that the flow direction of the bin from the conveyor 240 is toward the ejector (eg, the conveyor pushes the box in front of or immediately adjacent the sump) . In one example, when the pusher 2100 accepts the boxes, the configuration of the box may be such that the long axis of the box is oriented to interface with the -35-201242865 shifter 2100. In another example, the short axis of the case is oriented to interface with the mover 2100 (e.g., the case can have any suitable orientation relative to the mover 21 00). In yet another example, the box may have a hybrid orientation when interfaced with the ejector 2100 (eg, some boxes are bounded by a long axis of the box and the other box is a short axis of the box) Connected with the shifter). The x-y-axis shifter 2100 guides the box from the conveyor 240 to the hold-down 2120. The hold down member 2120 includes any suitable type and number of compression plates 2120P' that are disposed to substantially oppose the mover 2100 and substantially transversely move the box to, for example, the feed station 141 and the multi-layer vertical conveyor 150. The direction between. In one example, the holder establishes a picking surface picking material. For example, when the pusher 2100 pushes the case up against the pressing member 2120 (or vice versa), the pressing member 21 20 can move at least in the y direction (eg, toward the push plate 2100P) to establish A pick-up surface reference 値' is used to substantially align and compress the boxes together (to form a picking surface). In one example, the compression member 2120 can be spring loaded in any suitable manner. In these embodiments, the compactor can be free of spring force. The picking surface builder 2010 transports and inspects the boxes (e.g., ' picking faces) that are aligned at the feed station 141 for subsequent transport to the multi-layer vertical conveyor 150. In one example, the picking surface builder operates such that the hold down 2120 accepts the initial box of the picking surface and the other boxes of the picking surface are abutted against the initial box as described below. In such embodiments, the bin of the picking surface can be configured such that the picking surface - or a plurality of bins are in substantial contact with the pinch plate 2120P to establish the picking face data reference. -36- 201242865 The picking face builder pusher 2100 and the pressing member 2120 have linear actuators 2162, 2164, 2166 driven by a servo motor. In alternate embodiments, any suitable actuator, linear or other form of actuator can be provided, for example, any suitable other linear motion technique. In these embodiments, the PFB motion is initiated by the sensor 2170 in the ejector 2100, which follows the movement of the hopper 2100 or the movement of the box from beginning to end to provide the entire xy motion of the ejector 2100. A positive appearance detection. PFB 2010 uses gate 2180 to suspend the X-axis movement of the payload until the complete picking surface has been constructed and compacted, wherein the picking surface may contain one or more boxes or payloads and the compression contained therein The boxes or payloads are placed one next to the other or placed in any suitable position relative to each other. Here, the ejector 2100 of the pick-up face builder 20 10 is xy motion mode that varies depending on the physical characteristics of the payload, including but not limited to the size, mass, packaging material, and fragility of the case. The motion and the PFB compression member 2120 are moved in a y-axis mode that is orthogonal to the direction in which the payload is moved or based on the sum of all payloads or box sizes in a given picking surface. And change. The PFB compression member 2120 can squeeze all of the payload or compress the payload within the picking surface on the y-axis to provide a compact assembly of payloads for picking, placement or subsequent transport. The PFB roller table 2140 can be a motor driven conveyor that provides movement of the payload box on the X-axis. In such embodiments, any suitable form of conveyor, such as a belt, or a static bed having other X-axis transport mechanisms, may be provided for use with the pusher 2100 and/or the hold down 2120. Thus, the picking face builder 20 10 can provide an automated device to align multiple payloads or bins - 37 - 201242865 to provide an assembly for picking, placement or other purposes for shipment to the MVC 150A, B Or C or other suitable transport device or transport the assembly away from the devices. The picking surface builder 20 10 can be coupled to, for example, any suitable controller in any suitable manner, such as a programmable logic controller, a microcontroller, or a control server 120. In such embodiments, information from, for example, the control server 120 identifies any suitable id (identity) material for each incoming box (e.g., the box placed on the conveyor 240 and delivered) (e.g., , SKU number, box size, etc.). In order to show. The purpose of the specification is that the ID information may be a box-specific material (such as the Sku number) and may also be related to storage parameters, such as storage locations within the storage system, the information to be stored in the boxes and/or Details for the picking surface (eg, orientation of the box, contents of the picking surface, picking surface configuration, etc.). In these embodiments, the box ID data may be with the box and/or Any suitable information about the storage of the box within the storage system. The box ID data (including but not limited to SKU number, storage parameters, picking surface contents, box size, etc.) can be stored locally 'has been written into the memory of the picking surface builder 2010 or for example The memory of the control server 120 or any other suitable controller. The box ID data can be stored in any suitable format, such as a lookup table. The controller 'and the control server 120 or any other suitable controller, for example, generates an X, y motion pattern of the ejector 2100 and/or a y offset of the compression member 2120 for use, for example, according to Any suitable data, such as any suitable sensor from a feed path along the box (eg, along conveyor 240 or any other suitable area of the -38-201242865 storage system) (eg, The data of the picking surface is created by the box ID data or the updated data of the infeed resolver 2999). In an example, the feed parser 2999 can be constructed to confirm the ID data of the incoming box. Information obtained from, for example, the feed parser (eg, box size and/or any other suitable box information) may be communicated to the picking surface builder 2010 in any suitable manner (eg, directly to the picking surface) The builder, or by, for example, controlling the server 110, causes the motion patterns of the ejector 2100 and the compression member 2120 to be updated to correspond to the observation of the boxes determined by the feed resolver 2999 (about For example, a change in the predetermined number of boxes stored in, for example, the control server or any other suitable controller. In such embodiments, the picking surface builder 2010 can be constructed in any suitable manner for utilizing predetermined box information (eg, expected box information) and, for example, the actual box obtained from the parser 2999. Information to redirect or discard boxes that are deemed to be in error. In such embodiments, a separate box inspection station can be placed adjacent to the picking surface builder 20 10 for redirecting or discarding the box. In one example, the picking surface builder 2010 can have a gate or other selectively openable unit for removing the wrong box from the picking surface builder 2010. As described above, the picking surface builder 2010 can be constructed to communicate with the controller 150PLC, such as the control server 120 and an associated multi-layer vertical conveyor 15〇, in any suitable manner. When the ply 731 of the multi-layer vertical conveyor 150 is occupied (eg, the pick-up is placed on the ply-39-201242865) (see FIG. 13), the pick-up surface builder 2010 can be from the controller 150PLC and / or the control server 120 obtains information. The picking surface builder 2010 can be constructed such that the picking surface is not fed to the feed station 141 unless an empty deck 73 1 is provided on the multi-layer vertical conveyor to allow the picking surface to be It is transported to the laminate. In such embodiments, the picking surface builder can communicate with the feed station 141 such that when a picking surface is transported from the picking surface builder 2010 to the feed station 141, the feed station The picking face will not be transported to the multi-layer vertical conveyor unless the picking surface builder 2010 instructs it to transport. In an example, the picking surface builder can be constructed to receive data from, for example, the multi-layer vertical conveyor 150 or the control server 120 for tracking picking transport to the multi-layer vertical conveyor 150. surface. For example, when a picking surface is transported to the multi-layer vertical conveyor 150, the identity of the deck 731 to which the picking surface is sent is notified to the picking surface builder 2010, such that the picking surface The builder knows where each picking face is in the multi-layer vertical conveyor 150 and which of the plies 73 1 are empty. In addition to notifying the picking surface builder of the picking surface, another example is that the identity of the picking surface is notified to the conveyor so that the conveyor knows that on each conveyor deck Which picking surface (if any). When each picking surface is from the multi-layer vertical conveyor. When the 150 is removed, the picking surface builder 2010 and/or the multi-layer vertical conveyor 150 can receive data indicating that the deck from which the picking surface was removed is now free and can accommodate another pick. Take the noodles. In such embodiments, the status of the multi-layer vertical conveyor decks may be tracked in any suitable manner (for example, any of the paths set along the path of the conveyor deck 73 1 - 40-201242865) Suitable sensing device). In an exemplary operation of the picking face builder (and feed conveyor system), a box (e.g., box 1301 ' 1 3 02 ) moves along the conveyor 240 in the direction of arrow 1 399 toward the picking Face Builder 2010 (Fig. 13A). The ejector 2100 pushes, for example, the first box 1301 of a picking surface toward the pressing member 2120 such that the box 1301 is in substantial contact with the pressing member 2 1 20 (Fig. 13B). The pressing member can also be moved toward the pusher 2100 to establish, for example, the picking surface reference material. The ejector is retracted in the direction of arrows 1388, 1389 away from the box 1301 and back to its original position (Figs. 13C and 13D) such that a second box 1302 of the picking surface can be pushed up (clamped) Box 1301 (Figs. 13E and 13D). It can be understood that when the box is pushed by the ejector 2100, the ejector can be moved two-dimensionally so that the moved box also moves in the direction of movement along the conveyor 240 (eg, the direction of arrow 1399) on). In this example, the boxes 1301, 1302 form a picking surface 1350 (Fig. 13G) that is held by the gate 2180 on the picking surface builder until the multi-layer vertical conveyor 150 has an empty laminate. The gate 2180 can be lowered or otherwise moved such that the picking surface 135 is driven away from the picking surface builder 2010 and onto the feed station 141 in any suitable manner. The feed station can be configured to load the picking surface based on the location of one or more multi-layer vertical conveyors 150 used to transport the picking surface 1350 to the desired deck 731 (Fig. 15). A13, B13 (Fig. 13H) in one or more directions in one or more directions. It can be understood that when the picking surface 1350 is moved away from the picking surface builder, another -41 - 201242865 picking surface can begin to form, so that the box 1 303 (which is along the line 24 0 The next box in the moving box column is moved next to the push 2 1 00 so that the picking surface is essentially constructed continuously. Figures 14A-14C illustrate another example of a picking face formed by smaller boxes 1401-1402. In this example, the boxes 1 401 - 1403 are moved along the transporter 240. The formation of the picking faces of Figures 14A-14C is formed in substantially the same manner as described above with reference to Figures 13A-13H. It follows that the size and time information shown in Figures 13A-14C are exemplary only, and any suitable size and time can be used. Referring now to Figure 15, an exemplary platform 731 of the MVC is shown with features similar to those of the previous laminate or platform 730, in addition to the features described below. An MVC 150C having a platform guide 2200 is also shown with reference to Figures 16 and 17. In addition to describing features in the text, MVC 150C may have similar features to the previously described 1 50A or MVC 1 50B. In these embodiments, 731 has guide wheels 2210, 2220, and 2240 mounted on a skeleton 2250. In such embodiments, any suitable guiding interface (e.g., one or more rollers, bearings) can be used in place of the wheel. Chain couplings 2260 and 2270 are disposed between the rollers 2210, 2230 and the bobbin, respectively. A payload support surface 2280 coupled to the skeleton 2250 is provided. While the payload support surface or station is shown, there may be more or less payload support surfaces or stations in such platforms. The 150C has a suitable motor driver 2300 that drives the chain drive shifter (through the shaft 2330 and then the chain systems 2 3 3 5 and 2340, respectively) to indicate that the message is indicated. Discussion, under the M VC platform 2230, single fitting 2250 2290 example MVC, its actuator -42- 201242865 2310 and 2320. Platform 731 can be coupled to chain systems 2335 and 2340 by coupling members 2260 and 22 70, respectively. While the guide 2200 for the upper portion of the MVC 150C is shown, similar features can be placed on the lower portion of the MVC 150C to provide continuous guidance of the platform 73 1 . Although a single platform 73 1 is displayed on the MVC 150C, multiple platforms may be disposed at a common pitch or multiple intervals. The guide 2200 is shown as having substantially four guiding portions 2350, 2360, 2370, and 2380. Corresponding to the guide rollers 2210, 2220, 22 30 and 2240, respectively, and coupled to the skeleton 2205 of the MVC 150C. The guides 2350 and 2370 are disposed at a wider distance from each other with respect to the guides 2360 and 2380. The guides 2350 and 2370 provide substantially continuous guidance of the rollers 2210 and 2230 throughout the path through the MVC 150C and are interrupted at the corners where the sprocket and the chain couplings 2260 and 2270 provide continuous guidance of the platform 731 ( Break ) and the interruptions therein prevent an over constraint. The guides 2360 and 238 provide substantially continuous guidance of the rollers 2220 and 2240 throughout the path through the MVC 150C and are interrupted where the coupling members 2260 and 2270 interfere with the guides 230 60 and 2380 during movement and The guides 2360 and 2380 provide continuous guidance of the platform 731 and the interruptions prevent interference, and the guide wheels 2220 (see Fig. 15) are actively guided and guided wheels 2240 at the guide wheels as the guide wheels 2240 pass through an interruption. The 2220 is actively guided through an interruption. Therefore, a straight continuous three-point guide is established on the entire moving path. In such embodiments, one or more of the chain drivers 2310, 232 and the chain systems 2325, 2340 of the motor 2300 may include an active -43-201242865 brake mechanism and speed controller. It should be noted that The chain systems 2335, 23 40 and the platforms generally surround the conveyor path at a substantially fixed speed for, for example, allowing the automated cart to meet the platform at a predetermined location. If the power is lost, the braking mechanism and/or speed controller can substantially prevent the platforms from being free-wheeling when multiple platforms are heavily loaded while the other platforms are substantially empty ( For example, it is not moved by the motor 23 00 and the drive chain.) Here, the platform 731 moves can be moved to the two sets of guide wheels 2210, 2220 and 2230, 2240 in the channels 2350, 2360 and 2370, 2380. a predetermined path defined by the channels and the drive system. Accordingly, the guide wheels 2210, 2220, 2230, 2240 and corresponding platforms (and the picks supported by the platform) moving along the path Face-to-face) is substantially continuously implemented as a balanced cantilever configuration against binding and transition through corners, having three in the roller guides 2350, 2360, 2370, 2380 Point (wheel) contact points and provide a smooth (substantially no flutter/jitter) platform 731 that moves through the entire path of movement within the MVC 150C. In these embodiments, one or more M VCs 15C can implement storage Shelf Loading or unloading of the box or picking surface in the storage rack. As mentioned earlier, the MVC platform 731 may have more than one picking station for the picking surface of at least one of the boxes. The platform 73 1 is chained The drives 2335, 2340 are cycled and use the guides 2200 such that the stations retain the stability of the desired picking surface location that is capable of substantial physical motion throughout the MVC 150C without over-stretching (over -44 - 201242865 constraint ), this excessive beaming can cause chattering, jitter or other inappropriate or unwanted picking surface motion to occur. Here, the MVC platform connection to the M VC drives 2260, 2270 and these The MVC platform guide 2200 is configured to implement three-point contact between the platform 73 1 and the MVC structure throughout the motion cycle without over-bundling. The platform supports formed by the guides 220 are coupled to the drive system Pieces 2260, 2270 form a guided cantilever restraint that can be moved through the entire cycle without over-bundling and without any desire throughout the cycle Movement, such as tremor or jitter. Therefore, a smooth and efficient loading and unloading of the MVC cycle (eg, feed to implement the unloading for feeding the MVC and implementation of the opposite operation for sending the MVC) and the MVC classifier (eg, The picking surface payload movement may be provided over more than one cycle. In these embodiments, the MVC 150C has a skeleton 2205, a drive system 2300, and a platform 731 that are mounted to the skeleton and coupled to the The drive system 23 00 causes the platform 731 to be vertically circulated in a closed loop. Platform 731 can have one or more picking surface payload holding stations (e.g., two stations 2280, 2290) that are arranged to deviate from one another, for example, on a platform. In these embodiments, more or fewer locations may be provided. Each holding station can be constructed to hold the picking surface of the uncontained box(s). Each holding station can be independently fed and unloaded. The independent feed can have a pick-up face builder that can be accommodated by the MVC structure and the motion path profile. Also, the MVC 150C can be a multi-layer loader/unloader and classifier. In such embodiments, the skeleton 2205 and the driver 2300 can be constructed to implement the motion of the platform 731, which can produce a vertical or horizontal cyclic component from -45 to 201242865, which is loaded with a given picking surface/ Unload the transport shaft in the same direction, such as the front-rear direction. In such embodiments, the interface may be an interface interfaced with the warehouse conveyor, for example, a loading station for feeding to the MVC 150C or an unloading station for sending from the MVC 150C, which may be located The skeleton 2205 and the platform 73 1 of the MVC 150C are conveyed inside the loop path. The interface to the storage system, for example, the interface of the automated transport vehicle to the MVC transport location can be placed outside of the transport loop path of the platform 731 of the MVC 150C. In these embodiments, any suitable feed or delivery is provided at the interior, exterior or other location of the transport loop path of the platform 73 1 of the MVC 150C. The storage structure 130 may also include a charging station 290 for supplementation, such as a 'battery pack, capacitor, ultracapacitor, or other power storage device for the automated cart 110, as will be described in detail below. The charging station 290 can be disposed at an automated shipping station 140A, 140B (generally referred to as 140), such as the transport deck 130B, such that the automated transport vehicle 11 can transport objects back and forth to the multi-layer vertical transport substantially simultaneously while being charged. Machine 150 A, between 15 0B. The automated cart 11 and other suitable features of the storage system 10 can be controlled by, for example, one or more central system control computers (e.g., 'control servers' 120) through, for example, any suitable network port 80. . The network 1 80 can be a wired network, a wireless network, or a combination of a wireless network and a wired network using any suitable type and/or number of communication protocols. It should be noted that the system control server 120 can be constructed to manage and coordinate the overall operation of the warehouse system 100 and interface with, for example, a warehouse management system 125 that manages the entire warehouse facility. The control server can be substantially similar to, for example, the US Patent Application No. 1 2/7 5 7 entitled "CONTROL SYSTEM FOR STORAGE AND RETRIEVAL SYSTEMS", which is filed on Apr. 9, 2010. The control server of the Japanese Patent Application No. 3,357, the entire disclosure of which is hereby incorporated by reference. Referring now to Figures 18A and 18B, each of the automated carts 110 within the storage system 100 includes one or more suitable electrical storage devices for providing power to the automated transport vehicle 110. In such embodiments, the one or more electrical storage devices may be one or more suitable capacitors or ultracapacitors (which are referred to herein as capacitors 110C). While the embodiments are described with capacitors as an example, it should be understood that the power storage devices may be any suitable solid state, chemical, or other power storage system in other embodiments. Moreover, such automated carts may be powered by fossil fuels, which may be substantially similar to those described herein. In order to be able to utilize the automated transport vehicle substantially (about 100%) during normal operation (eg, when the automated transport vehicle actively transports the item in the storage system) or during an extended waiting period, The automated cart on each storage layer 261-264 of the warehousing system 100 can be recharged or replenished at a charging location or station 290 located in a multi-level vertical conveyor 150 exchange area (e.g., automated transport/transport station 140). The power supply, such as one or more capacitors 110C. The automated cart can enter and exit the automated transport station 140 by, for example, following a line or other suitable guide, such as conveyor access guides 130C1-130C3 on the transport deck 130B. For example, the transport deck 130B can have any suitable number of mobile-47 - 201242865 guide lines 130L1-130L4 and any suitable number of shunt or bypass guide lines 130S1-130S7 that form one or more A moving path or lane that traverses the automated carts 110. For example, the guide lines 130L1, 130L2 are allowed to move in the first direction and the guide lines 130L3, 130L4 are allowed to move in a second direction substantially opposite the first direction. The shunt guide lines 130S1-130S7 are oriented to substantially span the moving guide lines 130L1-130L4. The split guide lines 130S1-130S7 allow the automated transport vehicle 110 to be bi-directionally switchable between the guide lines 130L1-130L4 such that the automated transport vehicle 110 can enter and exit the picking aisle 130A or the automated transport station 140 without traversing the movements The entire length of the guide lines 130L1-130L4. In such embodiments, the diverting guide lines may be aligned with the picking walkway 13 0A 1-13 0A7 or any other suitable entry or exit location of the storage system such that the automated transport vehicle is moving along the same The movement of any one of the guide lines 130L1-130L4 allows the automated transport vehicle to swivel at the bottom of any corresponding picking aisle. The splitter guide lines 130S1-130S7 can also be located at the end of the transport deck 130B or at any other suitable location on the transport deck 130B. For example, an automated cart 110 moving along a path corresponding to guide line 130L1 can be instructed to transport an item to a storage location within picking walkway 130A4. However, the automated transport vehicle 110 may have passed the split guide line 130S4 corresponding to the picking aisle 130A4. The automated transport vehicle can continue to move along the guide line 130L1 until it encounters the next available split point (eg, a split point that is not used by another automated transport vehicle), such as a split guide line 130S5. The automated transport vehicle can be swung over the split guide line 130S5 and then turned to one of the guide lines 130L3 - 48 - 201242865 , 130L4 such that the automated transport vehicle 110 moves in substantially opposite directions toward the picking Road 130A4 is moving forward. The automated transport vehicle can continue to move along one of the guide lines 130L3, 130L4 until it encounters the split guide line 130S4 corresponding to the picking walkway 130A4, and then the automated transport vehicle is transferred to the drain guide line 130S4. A guide way (e.g., a rail guide system) that transfers or otherwise enters the picking walkway 130A4. The conveyor access guide lines 130C1-130C3 may be substantially similar to the split guide lines 130S1-130S2, however, in such embodiments, the conveyor access guides only allow the automated transport vehicle 110 to move unidirectionally through the automated transfer station. 140. For example, the conveyor access guide 130C1 can provide an access path to the automated transfer station. Conveyor In and out guide line 130C2 provides a means for automating cart 110 charging and allowing the automated cart to interface with multi-layer vertical conveyor deck 250. The conveyor access guide line 130C3 provides an exit path to the automated transfer station. The conveyor access guides 130C1-130C3 also provide automatic transport of the two-way movement so that the automated transport vehicle 110 can enter and/or exit the automated transport station using guide lines 130C1 or 130C3. Conveyor access guides 130C1, 130C3 may extend across the transport deck 130B such that the automated transport vehicle may enter the automated transport station 140 from any of the mobile guide lines 130L1. 130 L4 and move the guide lines 130L1-130L4 Either of them leaves the automated delivery station 140. It should be noted that although the embodiment of the transport deck 130B and the automated transport station 140 is described herein by way of example, the transport deck 130B and the automated transport station 140 may be constructed such that the automated transport vehicle is any A suitable system to guide. In an example of -49-201242865, the automatic transport vehicle 110 can use the front end of the automatic transport vehicle as the leading end of the moving direction or the trailing end of the moving transport vehicle as the trailing end of the moving direction to enter or leave the picking walkway 130A and automatically The delivery station 140 is described in U.S. Provisional Application No. 61/423,409, the entire disclosure of which is incorporated herein by reference in its entirety in in. In such embodiments, the mobile guide lines 130L1-130L4 and the shunt guide lines 130S1-130S7C include guide lines 130C1, 130C3) configured to cause the automated cart 110 to move in a substantially counterclockwise direction, but it should be understood that The guide lines can be configured such that the automated cart moves in a substantially mid-clockwise direction. When moving back and forth along the guide lines 130L1-130L4, 130S1-130S7, the collision between the automated transport vehicle 110 and the automated transport vehicle 110 can be avoided in any suitable manner, such as by automated transport vehicles to the automated transport vehicle. Or automated cart location tracking and management via, for example, control server 120 or other suitable automated cart controller. A suitable example of avoiding the collision of an automated transport vehicle is entitled "CONTROL SYSTEM FOR STORAGE AND RETRIEVAL SYSTEMS," U.S. Patent Application Serial No. 1 2/7 5 7, 3 3 7 The entire contents of this application are incorporated herein by reference. In these embodiments, the automated transit station 140 can be in the form of a porch 130V that extends over the transport deck 130B Between the multi-layer vertical conveyors 150. Each porch 130V can be provided with more than one charging/transporting station 290A, 290B (each station can also be used to access the multi-layer-50-201242865 vertical conveying rack The transport location of each part of 250 is configured, for example, as a linear matrix along the guide line 1 3 0C2. In this example, there are two charging stations 29 0A' 290B, which correspond to the multi-layer vertical Two object holding positions on the conveyor storage deck 2 50. It should be noted that in these embodiments, there may be an appropriate number of charging stations within 130V of the porch, which correspond to the storage of the multi-layer vertical conveyor. Object holding on the layer 250 The number of locations. Each porch 130V charging station 290A, 290B can be connected to a common power supply 2 90 P, which will be described in more detail below. The common power supply 290P can be used for multiple automatic shipments The charging station 290 of the station 140 supplies power. For example, the automated shipping stations 140 can be placed one above the other to form a vertical array or stack such that when the automated shipping vehicle 110 is within the automated shipping stations 140, An automated transport vehicle 1 10 that picks up floors 26 1 - 2 64 moves along substantially parallel paths. The storage system may include one or more power supplies 2 0 0P, each of which may be connected to One or more charging stations 290 picking floors 26 1 - 264. The automated transport vehicle 110 entering and leaving the porch 130V of the automated transport station 140 and reaching the charging station 290 along, for example, the guide line 130C2 may be stored by An entry-charge-out agreement within any suitable controller of the warehousing system is synchronized with other automated carts 110 that are to leave the charging station 290 or are to be charged to the charging station 290 for use in The substantial full utilization of all charging stations 290 of a given porch 130 V is maximized (e.g., substantially avoiding the charging of the automated transport vehicle 110 and other entry/exit procedures for the automatic transport vehicle 11 移动 moving to the same porch 130 V - 51 - 201242865 Order mutual interference). Each multi-layer vertical conveyor can have any controller 150C, as a programmable logic controller, to control the operation of the vertical conveyor 150 and control the charging on the porch The power supply to station 290 provides access to the laminate 250 of the individual multi-layer machine 150. The automated transport vehicle 110 enters and exits the porch 13 0V and is managed by a manager 297 (level manager), which may include a porch manager 296 (Fig. 26). The layer manager has any suitable organization for, for example, managing one or more pick-ups in one or more automated transport stations 140 (e.g., an automated transfer station 140 above one), or in the storage The operation of the automatic delivery vehicle in the system area. The layer manager 297 can use any suitable communication protocol with the automated transport vehicle 110, such as the two-way and/or one-way communication between the automated transport vehicle 10 and the layer manager 297, Linux-based communication. In alternate embodiments, each picking floor 26 1 - 264 may have a respective device 297 for controlling or otherwise managing movement on the automated shipping car floor and/or a layer manager may manage more than floor 26 1 -264. The layer manager 297 can be constructed to enable the location of the active automated cart charging station 290 and communicate with a set of 290Gs (Fig. 18B, which will be described hereinafter) for the access path of the getter and the automated transport vehicle 110 for charging. Current situation. The processor 296 can manage the area where the charging stations 290 are located. If the group manager 290G requires access to the charging stations, what is suitable for the individual multiple 1 30V vertical transmission, for example, a portion of the layer 297 can be on the layer Any other communication that is placed in another geographic location. For example or wireless. In this layer management 1 10 in each picking it can be traced to the group manager. The charging of the porch tube is used to determine whether the access is available in the -52- 201242865 route. As will be described hereinafter, if one or more charging stations 290 in a porch are unavailable, the porch manager 296 can close the porch with the unavailable charging station 290 (eg, refusing to enter and exit, such that The automated cart is guided to other porches). Each automated carrier 110 can communicate with the layer manager via any suitable built-in controller or manager for performing a charging cycle and implementing the automated shipping vehicle 110 in the automated shipping vehicle. The box units 101 of a multi-layer vertical conveyor 150 on the picking floors 261-264 are exchanged. Each charging station 290A, 290B includes a contact 290C for interfacing with a corresponding contact 110D (e.g., a charger pad) of the automated carrier capacitor 110C for charging on the automated transport vehicle 110. Contact 290C can be any suitable contact, such as a spring-loaded contact or other actuatable contact' that is constructed to automatically place the automated cart when placed above the charging station 290A, 29 0B. The contact 110D of the transport vehicle 11 is in contact. These charging station contacts 290C can be placed at charging stations 290A, 290B such that they are automatically shipped when the automated cart 110 is placed to interface and exchange with a holding position of the multi-layer vertical conveyor deck 25 0. The junction of the car n〇 is connected to 110D. As described above, the automated transport vehicles 11() pass through the entry-charge-out agreement to enter and exit the porch of the automated transport station 140. The agreement may include obtaining permission to move to the charger contacts 290C. (Before the item is exchanged with the multi-layer vertical conveyor), start charging 'and obtain permission to leave (after the item is exchanged with the multi-layer vertical conveyor). The layer manager 297 can be configured to manage the requirements to enter and exit the halls 130V and the charging stations 290A, 290B and to determine whether to allow the automatic transport vehicle 110 to enter, exit, and begin/end charging. A charge can begin when the automated transport vehicle 110 has obtained an entry permit and parked at a charging station 290A, 290B at a location on the floor 250 where the automated transport vehicle 110 will pick up/place an item. Charging of the automated transport vehicle 110 can occur during the time it transports an item between the automated transport vehicle 110 and the deck 250 or after the transfer has been completed. In addition, the automated cart 110 can be charged at the nearest available (e.g., unoccupied) porch 130V without interfering with other transport (non-limiting opportunistic charging). In such embodiments, the automated cart 11 can perform a quick charge prior to exiting the multi-layer vertical conveyor porch 130 V, at which point the multi-layer vertical conveyor controller 150C can notify a group manager 290G (Fig. 18B) - Fast charging has been achieved. The rapid charging of the automated transport vehicle 110 can be a mode in which the power supply 290P switches from a fixed current mode (eg, the power supply is a variable voltage to deliver a maximum current output) to a fixed voltage mode (eg, power supply has been reached) The charging of a variable current maximum voltage output set point) (or for the terminated signal is ready). It should be noted that the automated transport vehicle 110 may remain at the charging station 2 90 A, and the 290 BB continues to be charged (eg, to achieve top-off or full charge) until the control server 120 or the storage system Other suitable controllers consider that it is necessary to move the automated transport vehicle 110 as another automatic transport vehicle 110 enters the charging stations 290A, 290B. During fast charging, the capacitor 110C of the automated carrier 110 may be a voltage that does not take into account the loss from -54-201242865 from the power supply 290P to the capacitor 110C. During an extra or full charge, the capacitor is allowed to reach an extended period of the applied voltage level (Tau = R*C, 5*Tau«99. 3% of the final voltage, where R is the ESR of the capacitor and the combination of the power supply sensing line (Figure 19) and any resistance between the capacitors. The group manager 290G may be a collection of cooperating interfaces that manage group charging of the automated carts 110 on a plurality of picking floors 261 - 2 64 sharing a power supply (eg, in one Time charges more than one automated cart, one of which refers to a group of automated vans that are charged by the same power supply. In these embodiments, each power supply 290 has a group manager 290G or each group manager can serve multiple power supplies. In such embodiments, if the power supply 290P is enabled and functional (eg, power is transferred to the charging station, waiting to be taken), the automated transport vehicles 110 may not be able to enter and exit a charge. Station 290. In such embodiments, after charging and the power supply 290P stops transmitting power to the charging station 290, the group manager 290G may cause the automated carrier H0 to remain at the charging station 290 for a predetermined length of time. The length of time may be about 280 milliseconds in one example. In other examples, the length of time that the automated transport vehicle 110 remains on the charging station 290 after the power is turned off may be any suitable length of time. Referring to Figures 19 and 20, each power supply 290P has four charging stations 290A, 290B, 290A2, 290B2 » The charging stations 290A, 290B - 290A2 » 290B2 can be placed vertically in a single multi-layer vertical conveyor 150 Within the area and set to a rectangular configuration, there are two charge-55-201242865 power stations 290A, 290B on one picking floor and two charging stations, 290B2 on a different picking floor, where the picking Can be adjacent to each other. For example, referring to FIG. 18A, in this power supply, the charging stations picking up the floors 261, 262 will share a power supply to take the floor 2 63, 2 64 the charging stations will share a power supply, etc., indicating that In an embodiment, a suitable number of charging stations on each picking floor share a power supply with a suitable number of charging stations from one or more other picking floors. Each power 290P can be placed within a predetermined range from the charging station 290 it serves. For example, power supply 290P can be placed at less than 18 inches from charge, 290B, 290A2, 2 90B2 to, for example, reduce losses and increase charge yield. It should be noted that in such implementations the power supply 290P can be placed at any suitable distance from their respective charging. As described above, each power supply can be controlled by, for example, a controller 150C of a multi-layer vertical conveyor 150, or any controller thereof. In such embodiments, up to about power grid 290 and up to about 64 charging stations 290 can be associated with a single layer vertical conveyor 150, where the charging stations are tied to the picking floor. In such embodiments, the controller 150C is configured such that when the multi-layer vertical conveyor is stopped (eg, the power delivered is cut), the charging stations 2 90 will remain available to the charging stations. 290 and the power of the multi-layer vertical conveyor can be disabled/enable. 290A2 Take the floor configuration, pick, etc. Should be at any supply distance of 290A for low line, for example, station 290 is suitable for 16 - many different conveyors can be built. Sending Independent-56-201242865 Referring to Figures 18B and 19, and for exemplary purposes, picking floor 262 as an example, the automated cart charging process can enter the multi-layer vertical conveyor area (e.g. The automatic transfer station 140) was started before. The automated carrier begins communicating with the group manager 290G to request permission to move to a particular charging station 2 90 A, 290B. In these embodiments, the decision of which charging station 290A, 290B is to be interfaced with which charging station 290A, 290B is associated with which multi-layer vertical conveyor deck 250 is the intended target and the object to be transported will It is related to which laminate 250 is picked up or where it is placed. The automated cart may remain outside of the charging station 290A, 290B (e.g., the loading/unloading area of the multi-layer vertical conveyor) until it is from, for example, the control server 1 20 (or other suitable controller, such as The tier manager of the tier manager receives it into the charging station 290 A, 290B is a secure license. In an example, the group manager 290G can know that any other automated carts 110 can enter and exit the charging station 290A, 290B on the picking floor (which in this example is the picking floor 262) and can indicate Controller 150C turns off power supply 290P to allow an automated carrier 110 to enter the charging station 290A, 290B. In one example, the group manager 290G can have discretion to decide when to turn off the power provider 290P and when to allow the automated cart 11 to move to the charging stations 290A, 290B.
當該自動運送車具有移動至該充電站290A，290B( 如’該多層式垂直輸送機將載/卸載區域）的許可之後， 該自動運送車110可移動至該想要的充電站290A，290B -57- 201242865 並回報其位置。當該自動運送車110位在該想要的充電站 290A，290B時，該群組管理器29G可通知該控制器150C 用以將該電力供應器290P重新賦能，該自動運送車1 1〇 在此時點將開始充電。該自動運送車110的此一充電可與 同一共用的充電系統網路上的其它自動運送車110的充電 重疊（如，如果自動運送車110是在充電站290A處充電 的話，則其它自動運送車110亦可在充電站290B、290 A2 、290B2的一或多者處充電）。在該等實施例中，該充電 處理是開放端（open ended)的處理且在接收到例如來自 該群組管理器290G或該倉儲系統100的其它任何適合的 控制器的終止指令之前是不會終止的。 該控制器150C可控制該電路供應器290P並監視該電 力供應器290P的現況。該控制器150C可監視該電力供應 器2 90P的現況並在該電力供應器29 0P已達到一固定電壓 模式時回報給例如該群組管理器290G並測量一落在其最 大電壓値的75 %以下的電流輸出。應指出的是，在該等實 施例中，該控制器1 50C可在任何適合的時間點，普如當 電流輸出高於或低於約75%時，回報給例如該群組管理器 2 90 G。在此時點，該自動運送車110已被“快速充電”且 準備好實施被需要的任務。如果該自動運送車110需要輸 運物件於該倉儲系統100內的話，該群組管理器290G可 送出一指令來終止該充電循環。如果暫時不需要該自動運 送車1 1 0的話，則充電可繼續且該充電器供應可被無限地 保持在開（ON)。應指出的是，在該等實施例中，送到 -58- 201242865 該使用中的充電站的電力可在一預定的條件下被中斷，譬 如當該自動運送車達到“充飽電”的時候。充飽電可被達 成，如果該自動運送車保持充電達到5 R*C時間常數的話 。該達到充飽電的時間係與例如包括該介於充電站接點 290C與自動運送車110的接點110D之間的電阻、在該自 動運送車110上的配線以及該電容器11 0C內的電阻在內 的因素有關。在一例子中，一自動運送車110可在快速充 電之後留在充電站290A，290B上任何時間。 在該等實施例中，有N個群組管理器2 9 0G對應於N 個電力供應器290P。例如，每一多層式垂直輸送機150 的控制器150C可具有每一電力供應器290P所特有的可定 址库（addressable port)。當要求充電時，自動運送車 1 10可經由例如層管理器297 (圖18B )與一群組管理器 290G通信，該群組管理器290G控制一該自動運送車110 將移動至其上的充電站的電力供應器2 9 0P。如上文所述 ，自動運送車1 1〇與層管理器297以及群組管理器290G 、控制器150C及電力供應器290P (及該倉儲系統的它適 合的構件）之間的通信可以是任何適合的通信協定及方法 ，譬如有線或無線雙向及/或單向通信、以Linux爲基礎的 通信、或其它適合的通信。 參考圖22，在該等實施例中，該層管理器2 97可管理 在一層（或多於一層）（該層管理器297被指定至該層） 上的自動運送車110。該層管理器297可包括一用於自動 運送車110的自動運送車控制器298，且每一自動運送車 -59- 201242865 110可包括一被該自動運送車控制器298使用 118。例如，在該自動運送車控制器298與每一 車1 10之間有一對一圖映（如，該層管理器297 自動運送車控制器用於每一自動運送車）或一自 控制器可被圖映至多於一個的自動運送車。該 297亦可包括一充電管理器299，其可如該自動 制器298與該群組管理器290G之間的中間物般 用以管理充電。 每一自動運送車控制器298可透過該充電管 與該群組管理器290G通信以實施該自動運送車 電。在該等實施例中，可以有例如10個多層式 機其與揀取樓層261-2 64交叉（如，有20個充 被設置在每一揀取樓層上，如每一多層式垂直輸 點有兩個充電站）。應指出的是，在該等實施例 揀取樓層上可以有任何適當數量的多層式垂直輸 電站。該充電管理器2 99可選擇一適當的充電站 給定的充電循環溝通。因爲自動運送車群組（如 一電力供應器充電的自動運送車群）橫跨相鄰揀 所以兩個層管理器297每一者可建立與它們各自 充電站290 (其在此例子中爲每一樓層20個充 通信連接。 相反地，每一充電管理器299可包括一用於 站290的充電站現況伺服器299S，該群組管理器 該充電站現況伺服器來中繼一充電通信服務620 的控制器 自動運送 包括一個 動運送車 層管理器 運送車控 地作用， 理器299 1 10的充 垂直輸送 電站290 送機交叉 中，每一 送機及充 290 與一 ，使用同 取樓層， 的樓層的 電站）的 每一充電 290G 用 送給它的 -60- 201242865 電力供應現況資訊。應指出的是，該充電通信服務620可 處理來自於例如該控制器1 5 0C的現況要求、用於例如該 控制器150C的on/off、及進入/離開一充電站290的要求 。因爲每一群組管理器290G可管理兩層揀取樓層，所以 它可具有例如連接至約四個充電站現況伺服器對象（如， 每一樓層有兩個）的連接。要求進入/離開一充電站290 的被指名的事件（如，一要求事件）的數量與充電站的數 量一樣多。在一例子中，每一組四個要求事件圖映至該充 電通信服務之處理on/off要求的部分，並主持（host)該 充電通信服務之處理充電現況要求的部分》 在一示範性操作中，該自動運送車控制器298可發出 任務（task )給該等自動運送車110。應指出的是，當發 出任務給該等自動運送車110時，該自動運送車控制器 298可允許該等自動運送車110與該等多層式垂直輸送機 之間一有效率的物件交換。當發出這些任務時，該自動運 送車控制器298可以使得自動運送車1 1 0沒有被制止進入 自動運送車站140(及充電區290 )來開始與多層式垂直 輸送機150輸送物件。而且，當發出任務時，該自動運送 車控制器沒有防止自動運送車從充電區290離開，因爲自 動運送車110尙未完成充電或尙未接受一最小數量的充電 。亦應指出的是，如果一第一自動運送車110尙未與多層 式垂直輸送機150完成一箱子單元101的輸運的話’則任 何在該第一自動運送車110後面位在充電站2 9 0內的自動 運送車可留在它們的充電站內繼續接受充電。 -61 - 201242865 參考圖23，當發出任務時，該自動運送車控制器可知 道該自動運送車110何時需要進入該充電站290，及何時 該自動運送車110是在該充電站290。然而，自動運送車 控制器298可能不知道該自動運送車110通過或離開充電 站2 90的確切時間。該自動運送車控制器298及自動運送 車110彼此合作來產生一充電週期。在一示範性的充電週 期中，該自動運送車控制器可指出該適當的充電站2 90來 與其通信。該自動運送車控制器298可要求（如，“自動 運送車是否可進入”的訊息）該充電管理器2 99送出“自 動運送車可進入”的訊息給該充電站290。該群組管理器 290G可確認該充電站290被關閉並等待一充電器現況以 反應該關閉現況。該群組管理器290G可送出一充電器現 況及“自動運送車可進入”的訊息給該充電管理器299, 其將該訊息中繼給該自動運送車控制器298。該自動運送 車控制器298可透過控制器118發出其它任務給自動運送 車110。當該自動運送車110到達充電站290時，該自動 運送車控制器298可等待“自動運送車是在充電站”的訊 息用以讀取一模擬的自動運送車電壓並要求該充電管理器 2 99送出“自動運送車是在充電站”的訊息例如給該群組 管理器2 90G。當該自動運送車110接受快速充電時，該 充電管理器可送出“自動運送車具有快速充電”的訊息。 這可讓該層管理器29 7在該自動運送車110完成任何目前 的工作（磬如，該自動運送車110與多層式垂直輸送機之 間的物見輸運）時將該自動運送車110註記爲可用於其它 -62- 201242865 任務的自動運送車。當該自動運送車控制器 動運送車110應移出該充電站2 90時，它要 器送出“自動運送車是否可離開”的訊息給 理器290G。該群組管理器290G確認至少一 提供給該自動運送車1 1 0、如果有必要的話 290、及送出“自動運送車可離開”的訊息 繼至該自動運送車控制器298，然後被送至 。這可讓該被模擬的自動運送車在該充電週 其電壓。應指出的是，該模擬自動運送車存 的任何適合的控制器的任何適合的記憶體內 送至該自動運送車的任務，該控制器可決定 留在該自動運送車內。應指出的是，在該等 動運送車1 1 0可週期地送一訊息至該控制器 車110的電量現況或指出自動運送車110需 自動運送車控制器298可送出下一組任務至 110。當該自動運送車110認爲它安全地離 ，該自動運送車110可送出“自動運送車已 ，這會造成該自動運送車控制器298經由 299送出“自動運送車已離開”的訊息。 110無需等待回音或停止它的運動來送出此 在該等充電站290處的其它自動運送車如果 電力供應器290P被該群組管理器290G重新 在該等實施例中，該群組管理器290G 自任何進行中的充電週期的電供應現況資訊 2 9 8認爲該自 求該充電管理 例如該群組管 快速充電已被 關掉該充電站 ，該訊息被中 該控制器1 1 8 期結束時更新 在該倉儲系統 ，使得根據被 還有多少電量 實施例中，自 指出自動運送 要被充電。該 該自動運送車 開該充電區時 離開”的訊息 該充電管理器 該自動運送車 訊息。爲了留 有必要的話該 賦能。 可將分開地來 中繼至例如該 -63- 201242865 層管理器297,使得該層管理器可將自動運送車.110引導 離開不可使用的充電器。應指出的是，該層管理器29 7可 透過例如該群組管理器290G來建立每一充電站290的操 作現況及該等充電站2 90是否可使用。 應指出的是，每一自動運送車經歷與上文所述相同的 充電程序。在該等實施例中，該群組管理器290G可被建 構來藉由將每一充電站如所需地予以個別地或成組地打開 及關掉來將多個懸而未決的充電要求協同一致。該群組管 理器亦可被建構來藉由例如將電力供應器290P關掉來將 該等充電站集體地關掉。這係藉由追蹤移動進/出該等充 電站290的自動運送車110的數量，及在該等充電站290 的自動運送車110的數量來完成。追蹤該等自動運送車 1 1 0的一非限制性的例子係如下所示： -64 - 201242865 要求 動作 自動運送車是否可進入 如果有需要，該充電器被關掉 當該充電器被確認是被關掉時： iNumMoving-H-Send botCanEnter 自動運送車是在接觸點 iNumMoving- iNumAt++ if (UNumMoving && iNumAt) tum charger on() 自動運送車是否可離開 如果自動運送車尙未接受一充電週期的話，推遲該要 求直到此充電被接受或電力供應失敗或被失能爲止。 充電器被關掉，如果有需要的話 當該充電器被確認是被關掉時： iNumMoving++ Send botCanLeave 自動運送車已離開 iNumMoving- if (liNumMoving && iNumAt) tumChargerOn() 充電器現況 如果該充電器通過快速充電標記的話，則將所有在該 充電器的自動運送車標記爲已接受快速充電，使得它 們如果想要的話可離開。送出該botHasQuickCharge() 訊息。 如果充電器因爲已被關掉而關掉的話，則將所有自動 運送車現況更新爲之前所槪述的，使得自動運送車可 進入或離開該充電器接點。 如果該充電器有錯誤的話，在適當的 ChargerContactStatus::isAvailable()界面送出通知。 通信故障”一詞可被用來標示一通信連接的兩端得 -65- 201242865 到一“未連接（unbind ) ”的指示。相反地，“連接（ bind ) ”指示標示出該通信連接兩端的連接。下面槪述可 在不同的故障時可被實施之非限制性的示範性充電特定動 作。 -66- 201242865 活動 數値 原理闡述 通信訊息處理時間 約1秒 一通信訊息到達目的地之被預期的最壞 狀況 最大電力供應切斷電壓 約 46.3 V 電力供應規格 電力供應關掉時間 約2秒 硬體行爲 電力供應最大電流 約 110A 電力供應場組態 最高的自動運送車電容 約 181.5F 使用在該自動運送車上的超極電容通常 爲165F，允許10%變動 自動運送車的最大充電時間 約305秒 對快速充電的最大電壓差量 =MaxPowerSupplyCutoff - 0V =約 46.3V 充電時的最小電流 =電力供應的最小電流 / MaxContactsPerSupply =111/4 =約 27.25A 充電時間的最壞情況 =max_capacitance * max_deIta_V / min_current = 181.5 * 46.3/27.25 =約303秒 在末了關掉電力供應約2秒的額外時 間。 在自動運送車接收到移動至 接點的許可之後自動運送車 移動至接點的時間 X秒 給自動運送車的容許量 在自動運送車接收到移動離 開接點的許可之後自動運送 車移動離開接點的時間 Y秒 給自動運送車的容許量 總裕度 約10%，最小 値，約1秒 所有逾時(timeout)計算的額外裕度 下列爲可被用來認定一異動失敗之非限制性逾時數値 -67- 201242865 異動 逾時（秒） 使用逾時的主體物 原理闡述 自動運送車是否 可進入-> 自動運 送車可進入 約7秒 充電管理器 約4個通信異動(transition)來關掉 電力供應 自動運送車可進 入-> 自動運送車 在接觸點 約8秒 群組管理器 約2個通信異動來移動自動運送 車 自動運送車在接 觸點->自動運送 車已快速充電 約338秒 充電管理器 約2個通信異動至群組管理器 最大充電時間=N秒 自動運送車是否 可離開-> 自動運 送車可離開 約7秒 充電管理器 約4個通信異動來將充電器關掉 自動運送車可離 開-> 自動運送車 已離開 約6秒 群組管理器 移動自動運送車 關掉自動運送車 的時間 約5秒 群組管理器 off週期 每一通信約1秒 充電自動運送車 的時間 約338秒 群組管理器 約2個通信異動 最大通信時間=N秒 當有一電力供應故障時’一訊息可從該群組管理器 290G被中繼。在一電力供應故障期間，自動運送車110 可被允許離開充電站290，即使是自動運送車no尙未接 受一最小量的充電亦然。該充電管理器299可使用來自該 群組管理器290G的該資訊，結合例如該自動運送車no 的現況或自動運送車控制器2 9 8與該群組管理器290G的 交談來完成任何懸而未決的充電週期，並將連接至故障的 電力供應的充電站290標記爲不可用。在此例子中，該群 組管理器290G或充電管理器299可找到其它可使用的充 -68- 201242865 電站290並與該層管理器297通信，用來將該尙未接受最 小量的充電的自動運送車110引導至這些可使用的充電站 290 (如，不妨礙在該等可使用的充電站2 9 0的位置處之 各多層式垂直輸送機15〇的進入/離開）。 關於在該自動運送車充電系統內的示範性通信，自動 運送車110可與一個別的自動運送車控制器298通信以指 出一模擬的自動運送車的電壓及該自動運送車已離開（或 到達）一充電站290。該自動運送車控制器2 9 8可與一個 別的自動運送車11〇溝通一充電後的電壓’其只有在模擬 期間是有效的。該充電管理器299可與充電站290通信以 確保該充電站是關掉的，使得自動運送車可進入或離 開該充電站290。該充電管理器299亦可指出何時群組充 電可以開始或重新開始，指出一自動運送車已離開一充電 站及重新開始充電及讓一或多個充電站賦能/失能。該群 組管理器290G可指出該充電站是關掉的’使得自動運送 車移動至該充電站或離開該充電站、該自動運送車已接受 一快速充電、及該充電站290的現況（如’該充電站是否 是不可用的、是關閉的、與面前的模式是相反的、是在相 反的電壓模式中等等）。 在該等實施例中，該自動運送車控制器29 8可被建構 成使用預留（reservatioji)來定位充電站 290 (如’每一 個要進出一充電站的自動運送車都“預留”該充電站’使 得其它自動運送車在該預留期間不能進出該充電站。當具 有該預留權的自動運送車I10進入該充電站290時’它會 -69- 201242865 接受充電且在充電完成時該自動運送車110要求 ，解除預留）該充電站290，使得該充電站2 90 自動運送車110預留。圖24例示一充電順序的 圖，在該圖中該預留被保持。例如，在自動運送 充電站290之前，一爲了該自動運送車進出該充 求被提出。如果在該充電站290沒有自動運送車 該要求可被獲准且該自動運送車可進入該充電站 果只實施與多層式垂直輸送機150物件轉運的話 運可進行且該自動運送車110可發出釋出該充電 要求且在該釋出之後，該自動運送車110已離開 提出。在要進行充電的例子中（除了要與該多層 送機150轉運物件之外或取代該轉運作業），充 自動運送車110位於該充電站2 90內時發生。一 動運送車110是否已接受快速充電的檢查可被實 該自動運送車110已接受快速充電的話，則該自 110能夠離開該充電站290並提出釋出該充電站 求。當該充電站2 90被釋出之後，該自動運送車 該充電站2 90且一指出該自動運送車110已離開 提出。 圖25例示示範性的分類架構及與充電管理| 自動運送車1 1 〇之間的通信的相依性。 在該等實施例中，在一門廊13 0V內的充電 狀態可用任何適當的方式被鏈結至一對應的多層 送機150的操作狀態。參考圖26，只爲了示範的 釋出（如 可爲其它 異動狀態 車進入該 電站的要 的話，則 2 90 ° 如 ，則該轉 站290的 的通知被 式垂直輸 電可在該 關於該自 施。如果 動運送車 290的要 1 1 〇離開 的標示被 蓉299及 站的操作 式垂直輸 目的，— -70- 201242865 單一揀取樓層的四個門廊130VI-130V4被示出，其中每— 門廊130VI-130V4有兩個充電站290。應指出的是，在該 等實施例中，該倉儲系統可具有任何適當數量的門廊，每 —門廊具有任何適當數量的充電站。每一門廊是由一各自 的多層式垂直輸送機150-1，150-2，150-3，150-4來服務 。這些多層式垂直輸送機的每一者亦服務垂直地對疊在該 等門廊130V1-130V4的個別門廊的上方及/或下方的其它 門廊。 在啓動該層管理器297時，關於該等自動運送車ι10 的操作，該充電管理器2 99知道關於每一充電站290的結 構資訊（如，它們位在何處及哪一個多層式垂直輸送機與 個別的充電站相關聯）。該充電管理器299可與每一充電 站2 90通信以獲得例如該充電站290的操作現況。該層管 理器297的該自動運送車控制器298可與自動運送車11〇 通信以發出指令或工作（如，輸運箱子單元1 0 1 )至自動 運送車1 1 0。 當一自動運送車，譬如自動運送車11 0X，需要充電 時’不論是否加上將箱子單元101輸運來回於一多層式垂 直輸送機 150-1， 150-2， 150-3， 150-4，該自動運送車可 送出一訊息至一門廊管理器296，用以決定要將該自動運 送車引導至門廊130V1- 130V4的哪一個。在該等實施例中 ’該門廊管理器296可以是該層管理器297的一部分，或 該門廊管理器2 96可被包括在該倉儲系統的任何適當的控 制器內。如果該自動運送車 Π0Χ的充電不與箱子單元 -71 - 201242865 101的輸運相關聯的話，則該門廊管理器296可將該自動 運送車110X引導至在最靠近的“在線（online) ”的一 空閒的可使用的充電站290或可使用的門廊130V1-130V4 。如果該自動運送車110X的充電與將箱子單元101輸運 來回於一多層式垂直輸送機150-1，150-2，150-3，150-4 相關連的話，則該門廊管理器296可與該門廊通信（爲了 示範的目的，該門廊可以是門廊150-3)，在門廊處該自 動運送車11 0X將輸運該箱子單元101以確認該門廊的充 電站290是可使用的。在例如該門廊150-3處的充電站的 至少一者可如上文所述地被預留給該自動運送車110X。 然而，如果用於該門廊150-3的該等充電站的一或多者被 認定爲是不可使用的，則該倉儲系統的一適當的控制器， 普如控制伺服器120，可通知該層管理器297及/或該門廊 管理器296該門廊150-3是離線的（offline)或不可使用 的，使得沒有箱子單元101可被輸運至該多層式垂直輸送 機150-3或沒有自動運送車110可在該離線的門廊13〇V3 的其它可使用的充電站290處被充電。該層管理器297在 具有該門廊管理器296所提供的資訊之下可與該自動運送 車I10X通信並將該自動運送車110X引導至下一個可使 用的門廊130V1-130V4的一可使用的充電站290以輸運物 件101，同時對該自動運送車110X充電。 在該等實施例中，垂直地堆疊於門廊130 V3的上方及 /或下方的門廊仍然可以對該自動運送車110充電且輸運 箱子單元101至該多層式垂直輸送機150-3。在該等實施 -72- 201242865 例中，因爲門廊130V3的充電站290可由與垂直地堆疊於 門廊130V3的上方及/或下方的門廊的充電站290相同的 電力供應器290P來供電（圖19)，所以與該門廊130V3 的電力供應相關聯的所有門廊在充電及物件101的輸運方 面可被指定爲是離線的。而且，該門廊130V3可保持是“ 在線（online) ”的，使得自動運送車可在該門廊130V3 的其餘可使用的充電站處充電及輸運箱子單元101。該門 廊130V3在物件輸運方面亦可保持是在線上的，使得如果 自動運送車11 0X有足夠的充電的話，則該自動運送車 11 0X可在該不可使用的充電站2 90處輸運物件，然後移 動至同一門廊130V3或不同門廊130V1，130V2，130V4 的下一個可使用的充電站2 9 0處進行充電。 參考圖27-29及圖18B與22，該自動運送車控制器 298與該充電管理器299可彼此互動以預留該倉儲系統 100內的資源。應指出的是，圖28例示一用於預留該倉儲 系統的資源的自動運送車控制器298互動的狀態圖表及圖 29例示用於充電站的每一預留要求是如何轉變爲該充電站 的預留的程序圖。例如，自動運送車110X可被該自動運 送車控制器298指派在門廊130V的充電站290B處充電。 該自動運送車110X的移動可由該倉儲系統1〇〇內的路線 點（waypoint ) 1101-1108來界定。當該自動運送車移動 時，該層控制器297的自動運送車控制器298可査看每一 用於預留該倉儲系統的資源的路線點來讓該自動運送車 110X沿著預定的路徑移動。在該自動運送車控制器298 -73- 201242865 預留資源之前或期間，該充電管理器可確認一所想要的充 電資源及任何中間的充電資源都是可使用的或在它們被該 自動運送車11 ox需要的時候將會是可使用的。如果該等 充電資源是可使用的，則該自動運送車控制器29 8照著計 畫的預定路徑繼續下去，其在此例子中爲充電站290B。 如果該等充電資源及中間的充電資源的一或多者是不可使 用的或將會是不可使用的，則該自動運送車11 0X的路徑 可被重新規劃至一可使用的充電資源（及對應的多層式垂 直輸送機）。在此例子中，該自動運送車110X可在揀取 走道130A7開始以揀取一箱子單元101。在自動運送車 110位在該揀取走道130A7內的同時，該揀取走道130A7 可被自動運送車11 0X預留。當該自動運送車移出該揀取 走道130A7時，預留一進入引導線上或移動路徑130 L4上 的入口的要求被提出且被准許。一旦在該引導線130 L4上 時，一爲了沿著門廊130V/多層式垂直輸送機150移動進 入引導線或路徑13 0C1的預留被要求且被准許。該自動運 送車控制器査看下一個路線點1107並要求預留該多層式 垂直輸送機輸運位置290T1且如果該輸運位置290T1的可 用性被確認的話，則該要求即被准許。該自動運送車控制 器檢查看該輸運位置290T1是否亦爲一充電資源（該位置 是一充電資源）並要求預留充電站290A，且如果該充電 站可使用的話，則准許該要求。即使該自動運送車U0X 將不會在該輸運位置290T1/充電站290A輸運箱子單元 101或充電，該自動運送車11 0X在其路徑上通過這些區 -74- 201242865 域到達充電站290B並保留輸運位置290T1/充電站 以確保到達充電站290B的路徑。該自動運送車控制 查看路線點1108來預留該多層式垂直輸送機輸運 290T2且如果該輸運位置290T2的可用性被確認的話 該要求即被准許。該自動運送車控制器298查看該輸 置2 90T2是否亦爲一充電資源（該位置是一充電資源 要求預留充電站290B，且如果該充電站可使用的話 准許該要求。在該自動運送車通過該輸運位置290T1 電站290A之後，該自動運送車控制器釋出該輸運 290T1及充電站290A，使得這些資源可以爲其它自動 車110所用。在該自動運送車110X位在該輸運 290T2的同時，該自動運送車1 10X可輸運箱子單元 於該自動運送車11 0X與該輸送機層板250之間，同 充電站290B接受充電。當該自動運送車110X到達一 充電的程度時，該自動運送車控制器298被通知該快 電已實質被完成並要求該自動運送車11 0X離開該輸 置290T2及充電站290B。該自動運送車110X確認它 開該輸運位置290T2及充電站290B，且該自動運送 制器298釋出該輸運位置290T2及充電站290B，使 們變成其它自動運送車110可用的資源。 再次參考圖22及26，如上文所述，當一充電站 變成不可使用時，該倉儲系統被建構成可將一自動運 110重新引導至另一可使用的充電站290。在一示範 施例中，當一充電站290變成不可使用時，所以受影 290 A 器亦 位置 ，則 運位 )並 ，則 及充 位置 運送 位置 10 1 時從 快速 速充 運位 已離 車控 得它 290 送車 性實 響的 -75- 201242865 自動運送車控制器298都被通知以採取適當的動作，替如 取消被指派給該不可使用的充電站的工作。應指出的是， 在一示範性實施例中，該受影響的自動運送車控制器298 可以是用於具有由和該不可使用的充電站相同電力供應器 供電之充電站的揀取樓層的自動運送車控制器。任何尙未 被排程的自動運送車工作（如，已經被重新引導的工作） 可不被指定至該等不可使用的充電站290或該等不可使用 的充電站290所在之該揀取樓層的它們對應的多層式垂直 輸送機150。 再次參考圖18B，在該等實施例中，該控制器150C 可被用來開始及監視自動運送車110的充電。在一例子中 ，該群組管理器290G可啓動該電力供應器190P及該控制 器150C可讓電力供應器輸出。該控制器150C可監視該電 力供應器的操作現況並啓告該群組管理器290G，如果該 電力供應器290P有任何不可使用性的話。該控制器150C 在監視該電力供應器290P之前可等待一預定的時間長度 (如，用以避免任何啓動功率尖波）並保持該電力供應器 的電流的記錄並監視該電流是否有降低至一預定的程度以 下的情況。該群組管理器290G可爲了任何適當的原因關 掉該電力供應器（替如，當一自動運送車想要進入或離開 一充電站時）且該控制器150C可關掉供應至該等充電器 的電力並據以引導自動運送車110。 在該等實施例的第一態樣中，一種用於具有進給輸送 機、進給站及多層式垂直輸送機的倉儲系統的揀取面建造 -76- 201242865 器被提供。該揀取面建造器包括一骨架、一可活動地耦接 至該骨架的推移件、及一可活動地耦接至該骨架的壓緊件 (snugger member)，其中該揀取面建造器被建構來接受 來自該進給輸送機的箱子及該推移件與該壓緊件可活動於 至少一方向上，該方向橫越箱子在該進給輸送機上移動的 方向，且被建構來將箱子形成爲具有一預定的參考資料的 揀取面。 依據該等實施例的第一態樣的第一子態樣，該推移件 係可移動於至少兩個正交的方向上，用以將箱子朝向該壓 緊件推移。 依據該等實施例的第一態樣的第一子態樣，該壓緊件 被設置來在該推移件將箱子朝向該壓緊件推移時產生該預 定的參考資料。 依據該等實施例的第一態樣，該揀取面建造器更包含 一可移動的閘門，其被設置成緊鄰該壓緊件，用以在一揀 取面是由至少一箱子形成時留住該至少一箱子。 依據該等實施例的第一態樣的第二子態樣，該揀取面 建造器更包含一解析器構件，其被建構來在箱子從該進給 輸送機被輸運至該揀取面建造器時獲得箱子資料。 依據該該等實施例的第一態樣的第二子態樣，該揀取 面建造器被建構來至少根據得自於該解析器構件的箱子資 料形成揀取面。 依據該等實施例的第一態樣的第二子態樣，該解析器 構件被建構來確認從該進給輸送機輸運至揀取面建造器的 -77- 201242865 箱子的身份。 依據該等實施例的第一態樣的第二子態樣，該揀取面 建造器被建構來根據得自於該解析器構件的箱子資料更改 該推移件及壓緊件的至少一者的運動外觀（motion pr0file )° 依據該等實施例的第一態樣，該揀取面建造器更包含 一與該多層式垂直輸送機的控制器通信的控制器，該控制 器被建構來將該等揀取面與該多層式垂直輸送機的層板相 關聯以追蹤該等揀取面在該多層式垂直輸送機上的位置。 依據該等實施例的第一態樣的第三子態樣，該揀取面 建造器包含一控制器，其被建構來至少根據該控制器可取 得之預定的箱子資料產生用於該推移件與壓緊件的運動外 觀。 依據該等實施例的第一態樣的第三子態樣，其中該控 制器包括一記憶體，其被建構來儲存該預定的箱子資料。 依據該等實施例的第一態樣的第三子態樣，該倉儲系 統包括一系統控制器，其中該揀取面建造器與該系統控制 器直接或間接通信且該預定的箱子資料係儲存在該系統控 制器的記憶體內。 在依據該等實施例的第二態樣中，一種倉儲系統被提 供。該倉儲系統包括一進給輸送機、一進給站、一設置在 該進給輸送機與該進給站之間的揀取面建造器、及多層式 垂直輸送機，其被連接至該進給站，該進給站被建構來輸 運箱子至該多層式垂直輸送機。該揀取面建造器包括一骨 -78- 201242865 架、一可活動地耦接至該骨架的推移件、及一可活動地耦 接至該骨架的壓緊件（snugger member)，其中該揀取面 建造器被建構來接受來自該進給輸送機的箱子及該推移件 與該壓緊件可活動於至少一方向上，該方向橫越箱子在該 進給輸送機上移動的方向，且被建構來將箱子形成爲具有 一預定的參考資料的揀取面。 依據該等實施例的第二態樣，該揀取面建造器被設置 在該進給輸送機的肘部的下游，使得該推移件與該壓緊件 實質地橫貫箱子從該進給站至該多層式垂直輸送機的移動 方向。 依據該等實施例的第二態樣的第一子態樣，該揀取面 建造器更包含一控制器，其被建構來至少根據該控制器可 取得之預定的箱子資料產生用於該推移件與壓緊件的運動 外觀。 依據該等實施例的第二態樣的第一子態樣，該控制器 包括一記憶體，其被建構來儲存該預定的箱子資料。 依據該等實施例的第二態樣的第一子態樣，該倉儲系 統包括一系統控制器，其中該揀取面建造器與該系統控制 器直接或間接通信且該預定的箱子資料係儲存在該系統控 制器的記憶體內。 依據該等實施例的第三態樣，一種用於具有進給輸送 機、進給站及多層式垂直輸送機的倉儲系統的揀取面建造 器被提供。該揀取面建造器包括一骨架、一可活動地耦接 至該骨架的推移件、及一可活動地耦接至該骨架的壓緊件 -79- 201242865 (snugger member)，其中該揀取面建造器被建構來接受 來自該進給輸送機的箱子及該推移件與該壓緊件被建構來 將箱子形成爲一具有一預定的參考資料的揀取面，其中該 預定的參考資料與至少一預定的揀取面特徵有關。 依據該等實施例的第三態樣的第一子態樣，該揀取面 建造器更包含一控制器，其被建構來根據該至少一預定的 揀取面特徵產生用於該推移件與壓緊件的運動外觀。 依據該等實施例的第三態樣的第一子態樣，該控制器 係直接或間接與該倉儲系統的一系統控制器通信且被建構 來從該系統控制器的記憶體取得該至少一預定的揀取面特 徵。 在該等實施例的第四態樣中，一種用於輸運未被包含 的（uncontained)的箱子單元來回於一具有一陣列的垂直 地堆疊的儲存架層的多層式儲存結構的多層式垂直輸送機 系統被提供。該多層式垂直輸送機包括一骨架，其具有不 連續的平台引導件、一連接至該骨架的驅動件、及耦接至 該驅動件的支撐平台，每一支撐平台具有支撐件及至少兩 個從動件，其被建構來與該等不連續的平台引導件嚙合。 該驅動件被建構來將該等支撐平台相對於該骨架移動於一 實質連續的垂直迴圈中，每一支撐平台被建構來支撐多個 未被包含的箱子單元，其中該等多個未被包含的箱子單元 的每一者被設置在一個別的支撐層板的一個別的預定的區 域。該等支撐件被該等不連續的平台引導件引導於該實質 連續的垂直迴圈的實質整個路徑上，其中該等支撐件係透 -80- 201242865 過該至少兩個從動件與該等不連續的平台引導件的嚙合而 以三點接觸方式被引導於實質整個該路徑上，其中該三點 接觸是藉由當該至少兩個從動件的一者通過在一個別的不 連續的平台引導件的一不連續處的時候該至少兩個從動件 的另一者嚙合該不連續的平台引導件來實施的。 依據該等實施例的第四態樣，該等多個未被包含的箱 子單元被懸臂支撐在該等支撐平台上。 依據該等實施例的第四態樣，該個別的支撐平台的預 定的區域包含一陣列的預定區域。 依據該等實施例的第四態樣，該等支撐件係以三點接 觸的方式被該等引導件引導於實質整個該路徑上。 依據該等實施例的第四態樣的第一子態樣，至少一輸 運裝置延伸至該等支撐平台的一路徑中，該至少一輸運裝 置被建構來將該等未被包含的箱子單元裝載至一支撐平台 的一個別的預定的區域或從該處卸載該等未被包含的箱子 單元。 依據該等實施例的第四態樣的第一子態樣，該等未被 包含的箱子單元的至少一者被放置在該個別的支撐平台的 該預定的區域內或從該處移走，其與被設置在該個別的支 撐平台的該等預定的區域的其它不同的預定區域內的其它 未被包含的箱子單元無關。 依據該等實施例的第四態樣的第一子態樣，該至少一 輸運裝置包含至少一進給輸運站，其延伸到該等支撐平台 的路徑內’該等支撐平台被建構來與該至少一進給輸運站 -81 - 201242865 界接，用以將該等未被包含的箱子單元從該至少一進給輸 運站接受到一入站的（inbound)支撐平台的至少—預定 的區域內，該進站的支撐平台的該至少一預定的區域對應 於該至少一進站的輸運站的一位置。在一其它的態樣中， 該至少一進站的輸運站包含一堆積器，其被建構來形成個 別的自動運送車負載或未被包含的箱子單元以放入到該進 站的支撐平台的個別的預定的區域內，其中該等未被包含 的箱子單元包括至少一個未被包含的箱子單元。在另一態 樣中，該至少一進站的輸運站包含一去貨板件（ depalletizer)，用來將該等未被包含的箱子單元從-容器 內移出。 依據該等實施例的第四態樣的第一子態樣，該至少一 輸運裝置包含至少一送出輸運站，其延伸到該等支撐平台 的路徑內，該等支撐層板被建構來與該至少一送出輸運站 界接，用以將該等未被包含的箱子單元從一出站的（ outbound)支撐平台的至少一預定的區域移走，該出站的 支撐平台的該預定的區域對應於該至少一送出輸運站的一 個位置。在另一態樣中，該至少一送出輸運站包含一上貨 板件（palletizer )，用來將該等未被包含的箱子單元放到 —容器內。在又另一態樣中，該多層式垂直輸送機及該至 少一送出輸運站被建構成使得該等未被包含的箱子單元以 一預定的順序從該多層式垂直輸送機被移走。 依據該等實施例的第四態樣的第一子態樣，每一支撐 平台包含第一細長形指件及該至少一輸運裝置包含第二細 -82- 201242865 長形指件，該第一及第二細長形指件被建構來允許支撐平 台通過該至少一輸運裝置以實施該等未被包含的箱子單元 的輸運。 依據該等實施例的第四態樣的第一子態樣，其中該至 少一輸運裝置包含多於一個的輸運裝置，其以一水平交錯 的垂直堆疊方式被設置在該垂直輸送機系統的個別的入站 及出站的側邊上。 依據該等實施例的第四態樣的第一子態樣，該至少一 輸運裝置包含多於一個的輸運裝置，其以一個疊在另一個 上方的垂直堆疊方式被設置在該垂直輸送機系統的個別的 入站及出站的側邊上，使得該多於一個的輸運裝置的至少 一者延伸至個別的入站及出站支撐平台內的量不同於該多 於一個的輸運裝置的其它輸運裝置的量。 依據該等實施例的第四態樣的第一子態樣，該至少一 輸運裝置包含設置在該多層式儲存結構的每一架層上的自 動運送車輸運位置以允許輸運車輛將該等未被包含的箱子 單元輸運於設置在每一架層上的儲存模組與該等支撐平台 之間。 依據該等實施例的第四態樣，該多層式垂直輸送機系 統更包含被建構來與該等支撐平台直接界接的輸運車輛， 該等輸運車輛被建構來用實質一次揀取操作將該至少一未 被包含的箱子單元輸運於該等支撐平台與該等儲存模組之 間。 在該等實施例的第五態樣中，一種用於倉儲系統的輸 -83- 201242865 運系統被提供，該倉儲系統具有一陣 存層具有各自的儲存區域。該輸運系 機，其具有一帶有不連續的平台引導 耦合至該骨架的支撐平台’該等支撐 動件，其被建構來嚙合該等不連續的 三點接觸連接而被連接至該骨架，該 至少兩個從動件中的—者通過一個別 件內的一不連續處的時候該至少兩個 合該個別的不連續的平台引導件來達 括一位在各儲存層上的輸運裝置。每 將一或多個未被包含的箱子單元補持 區域內。該垂直的輸送機被建構來將 箱子來回輸運至多於一個的儲存層處 被包含的箱子可選擇性地被該輸運裝 機上或從該垂直輸送機被移走，該垂 機對輸運裝置的界面，其被建構來將 單元實質地直接輸運於每一支撐平台 來回地輸運至該等儲存區域。 依據該等實施例的第五態樣，該 陣列的區域，及該一或多個未被包含 定的區域的不同部分界接之多於一個 地放置在一平台上或從該平台移走。 依據該等實施例的第五態樣，該 細長形的指件及該輸運裝置包括第二 列的儲存層，每一儲 統具有一垂直的輸送 件的骨架及可活動地 平台具有至少兩個從 平台引導件且經由一 三點接觸連接係由該 的不連續的平台引導 從動件中的另一者嚙 成。該輸運系統亦包 一支撐平台被建構來 在一支撐平台預定的 一或多個未被包含的 ，其中該一或多個未 置放置在該垂直輸送 直輸送機具有一輸送' 該等未被包含的箱子 與該輸運裝置之間以 等預定的區域包含一 的箱子可用與該等預 的輸運裝置來選擇性 等支撐平台包括第一 細長形的指件，該第 -84- 201242865 —及第二細長形的指件被建構來通過彼此之間，用以將該 等未被包含的箱子單元輸運於每一支撐平台與該輸運裝置 之間。 在該等實施例的第六態樣中，一種用於倉庫倉儲系統 中的自主式輸運車輛的充電系統被提供。該充電系統包括 至少一充電接點，其被設置在該倉儲系統的每一揀取樓層 上’該至少一充電接點的每一者被設置在一多層式垂直輸 送機站、至少一電力供應器，其被建構來供應電力至該至 少一充電接點、及一第一控制器，其被建構來將電力從該 電力供應器施加至該至少一充電接點，用以對一位在該多 層式垂直輸送機站的一自主式輸運車輛充電，其中該第一 控制器被建構來在該自主式輸運車輛與一可透過該多層式 垂直輸送機站接近的多層式垂直輸送機交換物件的同時供 應電力至該等充電接點。 依據該等實施例的第六態樣的第一子態樣，該充電系 統更包含一設置在該自主式輸運車輛上的電容器及一插座 (receptacle )其被建構來與該至少一充電接點界接，該 界接接觸被建構來將電力傳遞至該電容器。 依據該等實施例的第六態樣的第一子態樣，該插座包 括一接點墊及該至少一充電接點包括可致動的構件，其被 建構來與該接點墊接觸。 依據該等實施例的第六態樣，該倉儲系統的每一揀取 樓層包括至少一門廊其由該輸運甲板延伸出且設置在鄰近 一個別的多層式垂直輸送機處’其中至少一充電接點係設 -85- 201242865 置在該至少一門廊的每一者中。 依據該等實施例的第六態樣，該至少一充電接點的操 作與一相關連的多層式垂直輸送機是相關連的，使得當該 至少一充電接點不可使用時，該控制器將用於該至少一充 電接點所在的該揀取樓層的該多層式垂直輸送機視爲是不 可使用的。 依據該等實施例的第六態樣，該第一控制器被建構來 控制該電力供應器及該多層式垂直輸送機的操作。 依據該等實施例的第六態樣的第二子態樣，該充電系 統更包含一第二控制器，其被建構來在自主式運送車輛與 該多層式垂直輸送機交換物件時同步實施位在至少一揀取 樓層上的每一自主式運送車輛的充電循環。 依據該等實施例的第七態樣，一種倉儲系統被提供。 該倉儲系統包括至少一多層式垂直輸送機、至少一具有儲 存位置的揀取樓層、至少一門廊及輸運甲板其連接該等儲 存位置及該至少一門廊，該至少一門廊的每一者具有至少 一輸運站其被建構來提供進出該至少一多層式垂直輸送機 的個別多層式垂直輸送機的途徑、至少一自主式輸運車輛 ’其被設置在該至少一揀取樓層的每一者上，該至少一自 主式輸運車輛包括可重復充電的電力儲存器、及至少一充 電站，其設置在該至少一門廊的每一者中，該至少一充電 站的每一者被設置成使得該至少一自主式輸運車輛的該重 復充電的電力儲存器在該至少一自主式輸運車輛位在該至 少一輸運站時與該至少一充電站界接，其中該至少一充電 -86- 201242865 站被建構來在該至少一自主式輸運車輛與該至少一多層式 垂直輸送機交換物件時提供電力至該可重復充電的電力儲 存器。 依據該等實施例的第七態樣，該至少一多層式垂直輸 送機的每一者包括一輸送機控制器，該輸送機控制器被建 構來控制個別的多層式垂直輸送機的操作及位在與該個別 的多層式垂直輸送機相關連的門廊內的至少一充電站的操 作。 依據該等實施例的第七態樣，一層控制器被連接至該 每一揀取樓層且被建構來控制個別層的儲存及取得操作， 該層控制器被進一步建構來將該至少一多層式垂直輸送機 的操作與相關連的充電站的操作相鏈結，使得在一或多個 該相關連的充電站不可使用時可防止進出該至少一多層式 垂直輸送機。 依據該等實施例的第七態樣的第一子態樣，該倉儲系 統包括至少一電力供應器，該至少一電力供應器被共同地 連接至該至少一揀取樓層的垂直地鄰接的揀取樓層的充電 站。 依據該等實施例的第七態樣的第一子態樣，被共同地 連接至該至少一電力供應器的該等充電站包含一 2x2的充 電站陣列，其中在該陣列中的首兩個充電站係設置在一第 一揀取樓層上及在該充電站陣列中的次兩個充電站係設置 在一第二揀取樓層上，該首兩個充電站與該次兩個充電站 係被垂直地一者疊置於另一者上。 -87- 201242865 依據該等實施例的第七態樣的第二子態樣，每一門廊 包括被配置在一共同的直線路徑上的至少兩個充電站。 依據該等實施例的第七態樣的第二子態樣，該倉儲系 統包括一控制器，其被建構來預留一或多個該至少兩個充 電站以允許一自主式輸運車輛進出該一或多個該至少兩個 充電站。 依據該等實施例的第七態樣的第二子態樣，該等自主 式輸運車輛可被設置在該至少兩個充電站的每一充電站上 ，用以實質同步對每一自主式輸運車輛的可重復充電的電 力儲存器充電。 依據該等實施例的第七態樣，該倉儲系統包括一控制 器，其被建構來在位於一第一門廊的充電站是不可用的時 候將一被指定至位在該第一門廊的該充電站的自主式輸運 車輛重新安排路線至一位在另一門廊的充電站》 依據該等實施例的第七態樣，該輸運甲板包括一陣列 的自主式輸運車輛移動路徑，該陣列包括縱向移動路徑， 其提供進出該等儲存位置及該至少一門廊的途徑及橫向移 動路徑，其提供該等縱向移動路徑之間的分流（shunt)。 應被理解的是，揭露於本文中的示範性實施例可被個 別地使用或以它們任何適合的組合來使用。亦應被理解的 是，前面的描述只是該等實施例的示範性描述。各式的替 代或改變可在不偏離該等實施例之下被熟習此技藝者推導 出來。因此，這些實施例是要涵蓋落在下面申請專利範圍 的範圍內的所有這些替代例、改變及變化例。 -88- 201242865 【圖式簡單說明】 被揭露的實施例的前述態樣及其它特徵在下面的描述 中配合附圖被詳細地說明，其中： 圖1示意地例示依據實施例的一示範性倉儲系統； 圖2A、2B、2C、2D、3A及3B例示依據實施例的一 輸送機系統的示意圖； 圖4例示依據實施例的一輸送機層板（shelf)的示意 圖； 圖5示意地例示依據實施例的輸送機系統； 圖6A-6D示意地例示依據實施例的一輸運站； 圖7爲一依據實施例的方法的示意圖； 圖8爲一依據實施例的方法的流程圖； 圖9A及9B例示依據實施例的一進給站： 圖1〇例示依據實施例的一揀取面建造器； 圖1 1例示依據實施例的一揀取面建造器； 圖12例示依據實施例的一揀取面建造器； 圖13A-13H及14A-14C爲依據實施例的倉儲系統的 一部分的示範性操作的示意圖； 圖15例示一依據實施例的平台； 圖16例示依據實施例的平台引導件； 圖17例示依據實施例的平台引導件； 圖18A例示依據實施例的圖1的倉儲系統的—部分的 示意圖； 3 -89- 201242865 圖18B爲依據實施例的圖1的倉儲系統的另一部分的 不意圖； 圖19例示依據實施例的一自主式運送車充電系統的 —部分的不意圖， 圖20例示依據實施例的一自主式運送車充電循環的 示範性圖表； 圖21例示依據實施例的一自主式運送車充電系統的 示範性拓撲（topology)的示意圖； 圖22爲一用於依據實施例的一自主式運送車充電系 統的服務互動的示意代表圖； 圖23爲依據實施例的一自主式運送車充電程序的示 意圖； 圖24爲依據實施例的一示範性充電器狀態圖的圖式 » 圖25爲一用於依據實施例的一自主式運送車充電系 統的通信架構的一部分的示意圖； 圖26例示依據實施例的一倉儲系統的一部分的示意 圖； 圖27例示一用於依據實施例的一自主式運送車的示 意路線點（waypoint)表單； 圖28例示一用於依據實施例的一自主式運送車充電 系統的示範性示意狀態圖表；及 圖29爲一用於依據實施例的一自主式運送車充電系 統的充電處理的示範性程序圖的示意圖。 -90- 201242865 【主要元件符號說明】 100 :倉儲系統 170 :進給輸運站 1 6 0 :外送輸運站 150A :多層式垂直輸送機 150B:多層式垂直輸送機 1 3 0 :儲存結構 140A:自動運送車站 140B :自動運送車站 150:多層式垂直輸送機 1 1 0 :自動運送車 130A :揀取走道 130B :輸運甲板 6140:自動運送車輸運站 2 9 0 :充電站 1 10A :輸運手臂 2 5 0 :儲存層 261 :儲存層 262 :儲存層 263 :儲存層 264 :儲存層 1 0 1 :箱子單元 600 :儲存架 -91 - 201242865 120 ：控 1 80 :通 73 0 ：酬 700 ：電 710 :骨 720 ：鏈 900 ：平 93 0 ：支 720 ：驅 9 1 1 :骨 910 :指 75 0 ：揀 75 2 ：揀 751 :揀 75 3 :揀 8 1 0 :酬 820 ：酬 1 000 ：宋 1 0 1 0A ： 1010B ： 1030： $ 240 :輸 7305 ： I 170A ： 3 制伺服器 信網路 載層板 腦工作站 架 條 台 撐件 動鏈條 架 件 取面 取面 取面 取面 載 i子單元 堆積器 堆積器 丨送機機制 送機 板 給輸運站 -92 201242865 170B :進給輸運站 1 0 5 0 :第一側邊 1 0 5 1 :第二側邊 1 060 :輸運平台 1 100 :骨架 1 1 1 0 :驅動馬達 1 1 3 0 :托架系統 1 1 2 0 :軌條 1 132 :托架底座 1 1 3 5 :指件 1 1 8 1 :箭頭 7 3 0 i :層板 7 3 Oii :層板 1140 :放置裝置 999 :共同方向 9000 :店面配置圖規定 900 1 :箱子單元的特徵 1 4 1 :進給站 2010 :揀取面建造器 2012 :滾子 2014 ： X-軸 2 1 1 2 :被動滾子台 2020 :指件及酬載台 203 0 ：控制器 -93 201242865 2040 :驅動馬達及傳動器 2 0 5 0:齒輪馬達 2022 ： Y 軸 2024 ： Z 軸 2002 :揀取面建造器 2 4 0 E :肘部 22 80 :揀取面固持位置 2290 ：揀取面固持位置 2160 : PLC控制器 2140 :滾子台 2 1 0 0 P :推板 2100 :推移器 2120 : Y軸壓緊件 2120P :壓緊板 2 162 :線性致動器 2 164 :線性致動器 2 166 :線性致動器 2 170 :感測器 2 1 8 0 :閘門 2999 :進給解析器 150PLC :控制器 1 3 0 1 :箱子 1302 ：箱子 1399 :箭頭 -94- 201242865 1 3 8 8 : 1 3 89 ： A13 ： B13 : 1 3 03 ： 1401 ： 1 402 ： 1 403 ： 2200 ： 150c ： 2210 ： 2220 ： 2230 ： 2240 ： 2250 ： 2260 ： 2270 ： 2280 ： 2290 ： 23 00 ： 2310： 2320 ： 23 3 0 ： 23 3 5 ·· 箭頭 箭頭 方向 方向 箱子 箱子 箱子 箱子 平台引導件 多層式垂直輸送機 引導輪 引導輪 引導輪 引導輪 車架 鏈條耦合件 鏈條耦合件 酬載支撐表面 酬載支撐表面 馬達驅動器 鏈條驅動器 鏈條驅動器 軸 鏈條系統 -95- 201242865 2340 :鏈條系統 23 5 0 :引導部分 2360 :引導部分 23 70 :引導部分 2 3 80 :引導部分 2205 ：車架 1 1 0C :電容器 130C1 :輸送機進出引導線 130C2 :輸送機進出引導線 130C3 :輸送機進出引導線 130L1 :移動引導線 13 0L2 :移動引導線 130L3 :移動引導線 130L4 :移動引導線 130S1 :分流引導線 13 0S2 :分流引導線 13 0S3 :分流引導線 130S4 :分流引導線 13 0S5 :分流引導線 13 0S6 :分流引導線 130S7 :分流引導線 130A :揀取走道 130A4 ：揀取走道 2 9 0 A :充電站 -96- 201242865 290B :充電站 290P:電力供應器 1 3 0 V :門廊 297 :層管理器 296 :門廊管理器 290G :群組管理器 2 9 0 C :接點 1 1 0 D :接點 290A2 :充電站 290B :充電站 2 6 3 :揀取樓層 2 64 :揀取樓層 298 :自動運送車控制器 299 :充電管理器 299S :充電站現況伺服器 620:充電通信服務 130V1：門廊 1 3 0 V 2 :門廊 130V3 :門廊 1 3 0 V 4 :門廊 150-1 :多層式垂直輸送機 150-2:多層式垂直輸送機 150-3 :多層式垂直輸送機 150-4:多層式垂直輸送機 -97- 201242865 1 10X :自動運送車 1 1 0 1 :路線點 1 1 0 2 :路線點 1 1 0 3 :路線點 1 104 :路線點 1 1 0 5 :路線點 1 1 0 6 :路線點 1 1 0 7 :路線點 1 1 0 8 :路線點 1 3 0 A 7 :揀取走道 290T1 :輸運位置 2 90T2 :輸運位置 -98-After the automated cart has permission to move to the charging station 290A, 290B (eg, the multi-layer vertical conveyor will load/unload area), the automated cart 110 can be moved to the desired charging station 290A, 290B -57- 201242865 and return its position. When the automated transport vehicle 110 is at the desired charging station 290A, 290B, the group manager 29G can notify the controller 150C to re-energize the power supply 290P. At this point, charging will begin. This charging of the automated transport vehicle 110 may overlap with the charging of other automated transport vehicles 110 on the same shared charging system network (e.g., if the automated transport vehicle 110 is being charged at the charging station 290A, then other automated transport vehicles 110) It can also be charged at one or more of charging stations 290B, 290 A2, 290B2). In such embodiments, the charging process is open ended and will not be received until a termination command is received, for example, from the group manager 290G or any other suitable controller of the warehousing system 100. Terminated. The controller 150C can control the circuit supplier 290P and monitor the current status of the power supply 290P. The controller 150C can monitor the current status of the power supply 2 90P and report back to, for example, the group manager 290G and measure a drop of 75 % of its maximum voltage 在 when the power supply 290 0 has reached a fixed voltage mode. The following current output. It should be noted that in such embodiments, the controller 150C may report to, for example, the group manager 2 90 at any suitable point in time, such as when the current output is above or below about 75%. G. At this point, the automated cart 110 has been "quickly charged" and is ready to perform the required tasks. If the automated cart 110 needs to transport items within the warehousing system 100, the group manager 290G can send an instruction to terminate the charging cycle. If the automatic transport vehicle 1 1 0 is not needed for a while, charging can continue and the charger supply can be kept in an ON state indefinitely. It should be noted that in these embodiments, the power to the charging station in use at -58-201242865 may be interrupted under a predetermined condition, such as when the automated delivery vehicle reaches "full charge". . Full charge can be reached if the auto-carriage remains charged to a 5 R*C time constant. The time to reach full charge is, for example, the resistance between the charging station contact 290C and the contact 110D of the automated transport vehicle 110, the wiring on the automated transport vehicle 110, and the resistance in the capacitor 110C. The factors within it are related. In one example, an automated cart 110 can remain at any time on charging stations 290A, 290B after rapid charging. In these embodiments, there are N group managers 2900G corresponding to N power supplies 290P. For example, the controller 150C of each multi-layer vertical conveyor 150 can have an addressable port that is unique to each power supply 290P. When charging is required, the automated carrier 1 10 can communicate with a group manager 290G via, for example, a layer manager 297 (Fig. 18B) that controls the charging to which the automated carrier 110 will move. Station power supply 2 0 0P. As described above, the communication between the automated carrier 1 1〇 and the layer manager 297 and the group manager 290G, the controller 150C, and the power supply 290P (and its suitable components of the storage system) may be any suitable Communication protocols and methods, such as wired or wireless two-way and/or one-way communication, Linux-based communication, or other suitable communication. Referring to Figure 22, in these embodiments, the layer manager 2 97 can manage an automated cart 110 on one (or more than one) layer to which the layer manager 297 is assigned. The layer manager 297 can include an automated cart controller 298 for automated carts 110, and each autovana -59-201242865 110 can include a 118 for use by the automated cart controller 298. For example, there is a one-to-one mapping between the automated cart controller 298 and each of the vehicles 10 (e.g., the layer manager 297 auto-ship vehicle controller for each auto-transport vehicle) or a self-controller can be The map is mapped to more than one automatic delivery vehicle. The 297 can also include a charge manager 299 that can be used to manage charging as an intermediary between the robot 298 and the group manager 290G. Each automated cart controller 298 can communicate with the group manager 290G via the charging tube to implement the automated transport vehicle. In such embodiments, there may be, for example, 10 multi-layer machines that intersect the picking floor 261-2 64 (eg, 20 charges are placed on each picking floor, such as each multi-level vertical input) There are two charging stations at the point). It should be noted that there may be any suitable number of multi-level vertical power transmission stations on the picking floors of such embodiments. The charging manager 2 99 can select a given charging station for a given charging cycle communication. Because the automated carrier group (e.g., a fleet of automated transport vehicles charged by the power supply) traverses adjacent picks, each of the two layer managers 297 can be established with their respective charging stations 290 (which in this example are each The floor 20 charging communication connections. Conversely, each charging manager 299 can include a charging station status server 299S for station 290 that relays a charging communication service 620. The automatic transport of the controller includes a moving transport layer manager to transport the vehicle control ground, and the vertical transport power station 290 of the processor 299 1 10 is sent to the cross, each of the transport and charging 290 and one, using the same floor, The power supply of the floor of the power station is 290G for each of the power supply status information given to it -60- 201242865. It should be noted that the charging communication service 620 can process requirements from, for example, the current status of the controller 150C, for, for example, on/off of the controller 150C, and entry/exit of a charging station 290. Because each group manager 290G can manage two levels of picking floors, it can have connections to, for example, about four charging station status server objects (e.g., two per floor). The number of named events (e.g., a required event) required to enter/leave a charging station 290 is as many as the number of charging stations. In one example, each set of four required event maps is mapped to the portion of the charging communication service that handles the on/off requirements, and hosts the portion of the charging communication service that handles the charging status requirements. In an exemplary operation The automated cart controller 298 can issue tasks to the automated carts 110. It should be noted that the automated cart controller 298 may allow for efficient item exchange between the automated carts 110 and the multi-layer vertical conveyors when a task is issued to the automated carts 110. When these tasks are issued, the automated transport vehicle controller 298 can cause the automated transport vehicle 110 to be prevented from entering the automated transport station 140 (and charging zone 290) to begin transporting items with the multi-layer vertical conveyor 150. Moreover, the automatic carrier controller does not prevent the automated carrier from leaving the charging zone 290 when the task is issued because the automated carrier 110 does not complete charging or does not accept a minimum amount of charging. It should also be noted that if a first automated transport vehicle 110 does not complete the transport of a box unit 101 with the multi-layer vertical conveyor 150, then any of the first automated transport vehicles 110 are located at the charging station. Automated carts within 0 can remain in their charging stations to continue charging. -61 - 201242865 Referring to Figure 23, when a task is issued, the automated cart controller can know when the automated cart 110 needs to enter the charging station 290 and when the automated cart 110 is at the charging station 290. However, the automated cart controller 298 may not know the exact time at which the automated cart 110 passes or leaves the charging station 2 90. The automated cart controller 298 and the automated cart 110 cooperate with each other to generate a charging cycle. In an exemplary charging cycle, the automated cart controller can indicate the appropriate charging station 2 90 to communicate with. The automated cart controller 298 can request (e.g., "Automated cart accessible" message) the Charging Manager 2 99 sends a "Automated Cart Access" message to the charging station 290. The group manager 290G can confirm that the charging station 290 is turned off and wait for a charger status to reflect the shutdown status. The group manager 290G can send a charger status and an "automatic cart accessible" message to the charging manager 299, which relays the message to the automated cart controller 298. The automated carrier controller 298 can issue other tasks to the automated carrier 110 via the controller 118. When the automated transport vehicle 110 arrives at the charging station 290, the automated transport vehicle controller 298 can wait for a message "The automatic transport vehicle is at the charging station" to read a simulated automatic transport vehicle voltage and request the charging manager 2 99 sends a message "The automatic delivery vehicle is at the charging station", for example, to the group manager 2 90G. When the automated transport vehicle 110 accepts a quick charge, the charge manager can send a message "The automatic transport vehicle has a fast charge." This allows the layer manager 297 to complete the automated transport vehicle 110 when the automated transport vehicle 110 completes any current work (e.g., when the automated transport vehicle 110 and the multi-layer vertical conveyor are transported). Note the automatic delivery vehicle that can be used for other -62- 201242865 missions. When the automated transport vehicle control transport vehicle 110 should be removed from the charging station 2 90, it will send a message to the message processor 290G "Can the automatic transport vehicle leave?" The group manager 290G confirms that at least one message provided to the automated delivery vehicle 110, if necessary 290, and the "automatic delivery vehicle can leave" is followed to the automatic delivery vehicle controller 298, and then sent to . This allows the simulated automatic delivery vehicle to have its voltage during the charging cycle. It should be noted that the simulated automatic transport of any suitable memory of any suitable controller stored in the vehicle to the task of the automated transport vehicle may be decided to remain in the automated transport vehicle. It should be noted that the current transport vehicle 110 can periodically send a message to the controller car 110 or indicate that the automatic transport vehicle 110 requires the automatic delivery vehicle controller 298 to send the next set of tasks to 110. . When the automated transport vehicle 110 considers it safe to leave, the automated transport vehicle 110 can send "automatic transport vehicles already, which would cause the automated transport vehicle controller 298 to send a message "Automatic transport vehicles have left" via 299. 110 Waiting for an echo or stopping its motion to send out other automated carts at the charging stations 290. If the power provider 290P is re-introduced by the group manager 290G in the embodiments, the group manager 290G is from any The current supply status information of the ongoing charging cycle is considered to be the charge management, for example, the group tube fast charging has been turned off the charging station, and the message is updated when the controller ends in the first phase. In the warehousing system, the automatic transport is to be charged according to how much power is still present in the embodiment. The automatic transporter leaves the charging area when the message is left. The charging manager automatically transports the vehicle message. This should be done to make it necessary. It can be relayed separately to, for example, the -63-201242865 layer manager 297 so that the layer manager can automatically transport the vehicle. 110 Guide Leave the charger that is not available. It should be noted that the layer manager 297 can establish the operational status of each charging station 290 and whether the charging stations 2 90 are available, for example, via the group manager 290G. It should be noted that each automated transport vehicle undergoes the same charging procedure as described above. In such embodiments, the group manager 290G can be configured to synergize a plurality of pending charging requests by turning each charging station on or off individually or in groups as desired. The group manager can also be constructed to collectively turn off the charging stations by, for example, turning off the power supply 290P. This is accomplished by tracking the number of automated carts 110 moving into/out of the substation 290 and the number of automated carts 110 at the charging stations 290. A non-limiting example of tracking such automated transport vehicles 1 10 is as follows: -64 - 201242865 Requires that the automatic transport vehicle is accessible. If necessary, the charger is turned off when the charger is confirmed When turned off: iNumMoving-H-Send botCanEnter Automated cart is at the point of contact iNumMoving- iNumAt++ if (UNumMoving && iNumAt) tum charger on() Automated cart can leave if auto transport 尙 does not accept a charge In the case of a cycle, the request is postponed until the charge is accepted or the power supply fails or is disabled. The charger is turned off, and if the charger is confirmed to be turned off if needed: iNumMoving++ Send botCanLeave The auto delivery car has left iNumMoving- if (liNumMoving && iNumAt) tumChargerOn() Charger status if charging By quickly charging the tag, all of the automated carts at the charger are marked as having accepted fast charging so that they can leave if desired. Send the botHasQuickCharge() message. If the charger is turned off because it has been turned off, then the status of all automated carts is updated to what was previously described so that the automated cart can enter or leave the charger contact. If the charger has an error, send a notification on the appropriate ChargerContactStatus::isAvailable() interface. The term "communication fault" can be used to indicate that both ends of a communication connection have an indication of -65-201242865 to an "unbind". Conversely, a "bind" indication indicates both ends of the communication connection. Connections. The following is a non-limiting exemplary charging-specific action that can be implemented in different faults. -66- 201242865 Activity Number Principles Explain that communication message processing time is about 1 second. A communication message arrives at the destination is expected The worst case maximum power supply cutoff voltage is about 46. 3 V power supply specification Power supply turn-off time Approx. 2 seconds Hardware behavior Power supply maximum current Approx. 110A Power supply field configuration The highest auto-vehicle capacitance is approximately 181. 5F The supercapacitor used on this automatic transport vehicle is usually 165F, allowing 10% variation. The maximum charging time of the auto transport vehicle is about 305 seconds. The maximum voltage difference for fast charging =MaxPowerSupplyCutoff - 0V = about 46. Minimum current at 3V charge = minimum current for power supply / MaxContactsPerSupply =111/4 = approx. 27. The worst case of 25A charging time =max_capacitance * max_deIta_V / min_current = 181. 5 * 46. 3/27. 25 = about 303 seconds At the end of the extra time to turn off the power supply for about 2 seconds. The time that the automatic transport vehicle moves to the joint after the automatic transport vehicle receives the permission to move to the joint X seconds gives the automatic transport vehicle the allowable amount. After the automatic transport vehicle receives the permission to move away from the joint, the automatic transport vehicle moves away from the pick-up. The time of the point Y seconds is about 10% of the total allowance for the automatic delivery vehicle. Minimum, The extra margin for all timeout calculations in about 1 second. The following are non-restrictive timeouts that can be used to identify a transaction failure. 値-67- 201242865 Transaction Timeout (seconds) Explain using the time-lapse principle of the subject Whether the automatic delivery vehicle can enter-> The automatic transport car can enter for about 7 seconds. Charge Manager. About 4 communication transitions to turn off the power supply. Automated transport vehicles can enter-> Automated cart at the touch point for about 8 seconds Group Manager About 2 communication changes to move the auto transport car Auto transport cart at the contact -> Automated transport The car has been charged quickly. About 338 seconds Charge Manager About 2 communication changes to the group manager Maximum charge time = N seconds Auto transport car can leave -> The automatic transport car can leave for about 7 seconds. Charge Manager. About 4 communication changes to turn off the charger. Automated transport vehicles can be left-> The automatic delivery vehicle has left for about 6 seconds. The group manager moves the automatic delivery vehicle to turn off the automatic delivery vehicle for about 5 seconds. The group manager off period is about 1 second for each communication. The time for charging the automatic delivery vehicle is about 338 seconds. Group management About 2 communication transactions Maximum communication time = N seconds When there is a power supply failure, a message can be relayed from the group manager 290G. During a power supply failure, The automated cart 110 can be allowed to leave the charging station 290. Even if the automatic delivery vehicle does not accept a minimum amount of charging. The charging manager 299 can use the information from the group manager 290G. Completing any pending charging cycles in conjunction with, for example, the status of the automated cart no or the automated cart controller 298 talking to the group manager 290G, The charging station 290 connected to the failed power supply is marked as unavailable. In this example, The group manager 290G or the charging manager 299 can find other available charging-68-201242865 power stations 290 and communicate with the layer manager 297. An automated cart 110 for not receiving the minimum amount of charge is directed to these usable charging stations 290 (e.g., The entry/exit of the multi-layer vertical conveyors 15〇 at the locations of the usable charging stations 210 is not impeded. Regarding the exemplary communication within the automated cart charging system, The automated carrier 110 can communicate with a further automated carrier controller 298 to indicate the voltage of a simulated automated delivery vehicle and the automated delivery vehicle has left (or reached) a charging station 290. The automated cart controller 298 can communicate a charged voltage with a different automated transport vehicle 11' which is only valid during the simulation. The charging manager 299 can communicate with the charging station 290 to ensure that the charging station is turned off, The automated cart can be brought into or out of the charging station 290. The charging manager 299 can also indicate when the group charging can begin or resume. It is pointed out that an automatic transport vehicle has left a charging station and restarted charging and enabling/disabling one or more charging stations. The group manager 290G can indicate that the charging station is turned off, causing the automated transport vehicle to move to or away from the charging station, The automatic transport vehicle has accepted a fast charge, And the current status of the charging station 290 (eg, 'whether the charging station is unavailable, Is closed, Contrary to the pattern in front of you, Is in the opposite voltage mode, etc.). In these embodiments, The automatic transport vehicle controller 29 8 can be constructed to use a reservatio to locate the charging station 290 (eg, 'each automatic transport vehicle that wants to enter and exit a charging station "reserves the charging station' to make other automatic transports The car cannot enter or exit the charging station during this reservation period. When the automatic transport vehicle I10 having the reservation right enters the charging station 290, it will accept charging at -69-201242865 and the automatic transport vehicle 110 requests when the charging is completed. Unreserved) the charging station 290, The charging station 2 90 is automatically reserved for the transport vehicle 110. Figure 24 illustrates a diagram of a charging sequence, This reservation is maintained in the figure. E.g, Before automatically charging the charging station 290, This request is made for the automatic transport vehicle to enter and exit. If there is no automatic transport vehicle at the charging station 290, the request can be approved and the automatic transport vehicle can enter the charging station. Only the transport of the object with the multi-layer vertical conveyor 150 can be carried out and the automatic transport vehicle 110 can issue the release. Out of the charging request and after the release, The automated cart 110 has left to be presented. In the example of charging (in addition to or in lieu of transporting the item with the multi-layer conveyor 150), Charging occurs when the automated cart 110 is located within the charging station 2 90. If the moving cart 110 has accepted the quick charging check, the automatic transport cart 110 has accepted the quick charging. Then the slave 110 can leave the charging station 290 and propose to release the charging station. After the charging station 2 90 is released, The automated transport vehicle, the charging station 2 90, indicates that the automated transport vehicle 110 has left. Figure 25 illustrates an exemplary classification architecture and the dependencies of communication with the charge management | automated transport vehicle 1 1 。. In these embodiments, The state of charge within a corridor of 130 V can be linked to the operational state of a corresponding multi-layer feeder 150 in any suitable manner. Referring to Figure 26, For the purpose of demonstration, if it is necessary for other vehicles to enter the station, Then 2 90 ° such as Then, the notification of the transfer station 290 is vertically transmitted and can be used for the self-administration. If the sign of the moving car 290 is 1 1 〇, the sign of the 290 and the station is operated vertically. — -70- 201242865 The four porches 130VI-130V4 of the single picking floor are shown. Each of the porches 130VI-130V4 has two charging stations 290. It should be noted that In such embodiments, The storage system can have any suitable number of porches. Each porch has any suitable number of charging stations. Each porch is made up of a separate multi-layer vertical conveyor 150-1. 150-2, 150-3, 150-4 to serve. Each of these multi-layer vertical conveyors also serves vertically adjacent other porches that are stacked above and/or below the individual porches of the vestibules 130V1-130V4. When the layer manager 297 is started, Regarding the operation of these automatic transport vehicles ι10, The charging manager 2 99 knows the structural information about each charging station 290 (e.g., Where are they located and which multi-layer vertical conveyor is associated with individual charging stations). The charging manager 299 can communicate with each charging station 2 90 to obtain, for example, the operational status of the charging station 290. The automated cart controller 298 of the layer manager 297 can communicate with the automated cart 11 to issue commands or work (e.g., Transport the box unit 1 0 1 ) to the automated transport vehicle 1 1 0. When an automatic delivery vehicle, For example, the automatic transport vehicle 11 0X, When charging is required, 'whether or not the box unit 101 is transported back and forth to a multi-layer vertical conveyor 150-1, 150-2, 150-3, 150-4, The automated delivery vehicle can send a message to a porch manager 296. It is used to decide which one to guide the automatic transport vehicle to the porch 130V1-130V4. In the embodiments, the porch manager 296 can be part of the layer manager 297. Or the porch manager 2 96 can be included in any suitable controller of the warehousing system. If the charging of the automatic transport vehicle 不0Χ is not associated with the transport of the box unit -71 - 201242865 101, The porch manager 296 can then direct the automated cart 110X to an idle "online" of an available charging station 290 or a usable porch 130V1-130V4. If the automatic transport vehicle 110X is charged and transports the box unit 101 back and forth to a multi-layer vertical conveyor 150-1, 150-2, 150-3, 150-4 related words, The porch manager 296 can then communicate with the porch (for demonstration purposes, The porch can be a porch 150-3), At the porch, the automated transport vehicle 110 will transport the box unit 101 to confirm that the gantry's power station 290 is operational. At least one of the charging stations at, for example, the porch 150-3 can be reserved for the automated transport vehicle 110X as described above. however, If one or more of the charging stations for the porch 150-3 are deemed to be unusable, Then a suitable controller for the storage system, Pu Ru control server 120, The layer manager 297 and/or the porch manager 296 can be notified that the porch 150-3 is offline or unusable. Thus, no box unit 101 can be transported to the multi-layer vertical conveyor 150-3 or no automatic cart 110 can be charged at other available charging stations 290 of the offline porch 13〇V3. The layer manager 297 can communicate with the automated carrier I10X and direct the automated carrier 110X to a usable charging of the next usable vestibule 130V1-130V4, with the information provided by the porch manager 296. Station 290 to transport object 101, At the same time, the automatic transport vehicle 110X is charged. In these embodiments, The porch vertically stacked above and/or below the porch 130 V3 can still charge the automated cart 110 and transport the box unit 101 to the multi-layer vertical conveyor 150-3. In the case of such implementation -72- 201242865, Because the charging station 290 of the porch 130V3 can be powered by the same power supply 290P as the charging station 290 that is vertically stacked above and/or below the porch 130V3 (Fig. 19), Therefore, all porches associated with the power supply of the porch 130V3 can be designated as offline for charging and transport of the item 101. and, The porch 130V3 can remain "online". The automated cart can be used to charge and transport the box unit 101 at the remaining usable charging stations of the porch 130V3. The porch 130V3 can also be kept online in terms of object transport. So that if the automatic transport vehicle 11 0X has enough charge, Then, the automatic transport vehicle 11 0X can transport the object at the unusable charging station 2 90 . Then move to the same porch 130V3 or different porch 130V1, 130V2, The next available charging station of the 130V4 is charged at 290. Referring to Figures 27-29 and Figures 18B and 22, The automated cart controller 298 and the charging manager 299 can interact with each other to reserve resources within the warehouse system 100. It should be noted that 28 illustrates a state diagram of an interaction of an automated cart controller 298 for reserving resources of the storage system and FIG. 29 illustrates a procedure for how each reservation request for a charging station is converted to a reservation for the charging station. Figure. E.g, The automated cart 110X can be assigned by the automated transport vehicle controller 298 to be charged at the charging station 290B of the porch 130V. The movement of the automated cart 110X can be defined by waypoints 1101-1108 within the warehouse system 1〇〇. When the automatic transport vehicle moves, The automated cart controller 298 of the layer controller 297 can view each route point for reserving resources of the warehouse system to move the automated cart 110X along a predetermined path. Before or during the time when the automatic cart controller 298 -73- 201242865 reserves resources The charging manager can confirm that a desired charging resource and any intermediate charging resources are available or will be available when they are needed by the automated carrier 11 ox. If these charging resources are available, Then, the automatic carrier controller 29 8 continues along the predetermined path of the plan. It is a charging station 290B in this example. If one or more of the charging resources and intermediate charging resources are unusable or will be unusable, The path of the automated transport vehicle 110X can then be re-planned to a usable charging resource (and corresponding multi-layer vertical conveyor). In this example, The automated cart 110X can begin picking a box unit 101 at the picking walkway 130A7. While the automatic transport vehicle 110 is in the picking aisle 130A7, The picking walkway 130A7 can be reserved by the automated transport vehicle 110X. When the automatic transport vehicle moves out of the picking walkway 130A7, A request to reserve an entry onto the guide line or on the move path 130 L4 is raised and permitted. Once on the guide line 130 L4, A reservation for moving into the guide line or path 13CC1 along the porch 130V/multi-layer vertical conveyor 150 is required and permitted. The automated transport vehicle controller looks at the next route point 1107 and requests that the multi-layer vertical conveyor transport position 290T1 be reserved and if the availability of the transport position 290T1 is confirmed, Then the request is granted. The automatic transport vehicle controller checks whether the transport location 290T1 is also a charging resource (the location is a charging resource) and requests to reserve the charging station 290A. And if the charging station is available, The request is granted. Even if the automated transport vehicle U0X will not transport the box unit 101 or charge at the transport location 290T1/charge station 290A, The automated transport vehicle 110X reaches its charging station 290B through its zone -74-201242865 domain on its path and retains the transport location 290T1/charge station to ensure the path to the charging station 290B. The automated cart control view route point 1108 to reserve the multi-layer vertical conveyor transport 290T2 and the request is permitted if the availability of the transport location 290T2 is confirmed. The automatic carrier controller 298 checks whether the input 2 90T2 is also a charging resource (the location is a charging resource requesting to reserve the charging station 290B, And if the charging station is available, this requirement is permitted. After the automated transport vehicle passes the transport location 290T1 power station 290A, The automatic carrier controller releases the transport 290T1 and the charging station 290A, These resources can be made available to other automated vehicles 110. While the automatic transport vehicle 110X is in the transport 290T2, The automatic transport vehicle 1 10X can transport the box unit between the automatic transport vehicle 110X and the conveyor floor 250. The same charging station 290B accepts charging. When the automatic transport vehicle 110X reaches a level of charging, The automated cart controller 298 is notified that the flash has been substantially completed and requires the automated cart 110X to exit the input 290T2 and the charging station 290B. The automatic transport vehicle 110X confirms that it drives the transport position 290T2 and the charging station 290B. And the automatic carrier 298 releases the transport location 290T2 and the charging station 290B, It becomes a resource available to other automated carts 110. Referring again to Figures 22 and 26, As mentioned above, When a charging station becomes unusable, The warehousing system is constructed to redirect an automated transport 110 to another usable charging station 290. In an exemplary embodiment, When a charging station 290 becomes unusable, So the shadow 290 A is also in position, Then the transport position) and Then, the charging position is 10 1 from the fast speeding position. The vehicle has been 290. The automatic delivery vehicle controller 298 is notified to take appropriate action. For example, cancel the work assigned to the unusable charging station. It should be noted that In an exemplary embodiment, The affected automated cart controller 298 can be an automated cart controller for a picking floor having a charging station powered by the same power supply as the unusable charging station. Any work that has not been scheduled for automatic delivery (eg, The work that has been redirected may not be assigned to their corresponding multi-layer vertical conveyor 150 of the picking floor where the unusable charging stations 290 or such unusable charging stations 290 are located. Referring again to Figure 18B, In these embodiments, The controller 150C can be used to initiate and monitor the charging of the automated cart 110. In an example, The group manager 290G can activate the power supply 190P and the controller 150C can output the power supply. The controller 150C can monitor the operational status of the power supply and initiate the group manager 290G, If the power supply 290P has any unusability. The controller 150C can wait for a predetermined length of time before monitoring the power supply 290P (eg, In order to avoid any starting power spikes and to keep a record of the current of the power supply and to monitor if the current has dropped below a predetermined level. The group manager 290G can turn off the power supply for any suitable reason (for example, When an automated transport vehicle wants to enter or leave a charging station) and the controller 150C can turn off the power supplied to the chargers and thereby direct the automated transport vehicle 110. In the first aspect of the embodiments, One for having a feed conveyor, The picking surface of the storage system of the feed station and the multi-layer vertical conveyor was built -76- 201242865 was supplied. The picking surface builder includes a skeleton, a pusher that is movably coupled to the skeleton, And a snugger member movably coupled to the skeleton, Wherein the picking surface builder is constructed to accept a box from the infeed conveyor and the pushing member and the pressing member are movable in at least one direction, The direction traverses the direction in which the box moves on the infeed conveyor, And constructed to form the box as a picking surface having a predetermined reference material. According to the first sub-state of the first aspect of the embodiments, The shifting member is movable in at least two orthogonal directions, Used to move the box toward the presser. According to the first sub-state of the first aspect of the embodiments, The hold down member is configured to produce the predetermined reference material as the pusher moves the case toward the hold down member. According to the first aspect of the embodiments, The picking surface builder further includes a movable gate. It is placed in close proximity to the pressing member, The at least one box is retained when a picking surface is formed by at least one of the boxes. According to a second sub-state of the first aspect of the embodiments, The picking face builder further includes a parser member. It is constructed to obtain the box information as the box is transported from the feed conveyor to the picking surface builder. According to a second sub-state of the first aspect of the embodiments, The picking surface builder is constructed to form a picking surface based at least on the box data obtained from the parser member. According to a second sub-state of the first aspect of the embodiments, The resolver member is constructed to confirm the identity of the -77-201242865 box transported from the infeed conveyor to the picking surface builder. According to a second sub-state of the first aspect of the embodiments, The picking surface builder is configured to modify a motion appearance of at least one of the shifting member and the pressing member based on the box material obtained from the resolver member (motion pr0file). According to the first aspect of the embodiments , The picking surface builder further includes a controller in communication with the controller of the multi-layer vertical conveyor. The controller is configured to associate the picking faces with the plies of the multi-layer vertical conveyor to track the position of the picking faces on the multi-layer vertical conveyor. According to a third sub-state of the first aspect of the embodiments, The picking surface builder includes a controller. It is constructed to produce a motion appearance for the pusher and the compression member based at least on predetermined box data available to the controller. According to a third sub-state of the first aspect of the embodiments, Wherein the controller comprises a memory, It is constructed to store the predetermined box information. According to a third sub-state of the first aspect of the embodiments, The warehousing system includes a system controller. Wherein the picking surface builder is in direct or indirect communication with the system controller and the predetermined box data is stored in the memory of the system controller. In a second aspect in accordance with the embodiments, A storage system is provided. The storage system includes a feed conveyor, a feed station, a picking surface builder disposed between the feed conveyor and the feed station, And multi-layer vertical conveyor, It is connected to the feed station, The feed station is constructed to transport the box to the multi-layer vertical conveyor. The picking surface builder includes a bone -78- 201242865 frame, a pusher that is movably coupled to the skeleton, And a snugger member movably coupled to the skeleton, Wherein the picking surface builder is constructed to accept the box from the infeed conveyor and the pushing member and the pressing member are movable in at least one direction, This direction traverses the direction in which the box moves on the feed conveyor, And constructed to form the box as a picking surface having a predetermined reference material. According to a second aspect of the embodiments, The picking surface builder is disposed downstream of the elbow of the feed conveyor, The pushing member and the pressing member are substantially traversed from the feeding station to the moving direction of the multi-layer vertical conveyor. According to the first sub-state of the second aspect of the embodiments, The picking surface builder further includes a controller. It is constructed to produce a moving appearance for the pusher and the compression member based at least on predetermined box data obtainable by the controller. According to the first sub-state of the second aspect of the embodiments, The controller includes a memory, It is constructed to store the predetermined box information. According to the first sub-state of the second aspect of the embodiments, The warehousing system includes a system controller. Wherein the picking surface builder is in direct or indirect communication with the system controller and the predetermined box data is stored in the memory of the system controller. According to the third aspect of the embodiments, One for having a feed conveyor, A picking surface builder for the feed station and the storage system of the multi-layer vertical conveyor is provided. The picking surface builder includes a skeleton, a pusher that is movably coupled to the skeleton, And a pressing member movably coupled to the skeleton -79- 201242865 (snugger member), Wherein the picking surface builder is constructed to accept a box from the infeed conveyor and the pushing member and the pressing member are constructed to form the box as a picking surface having a predetermined reference material. Wherein the predetermined reference material is associated with at least one predetermined picking surface feature. According to the first sub-state of the third aspect of the embodiments, The picking surface builder further includes a controller. It is configured to produce a visual appearance for the pusher and the compression member based on the at least one predetermined pick surface feature. According to the first sub-state of the third aspect of the embodiments, The controller is in direct or indirect communication with a system controller of the storage system and is configured to retrieve the at least one predetermined picking surface feature from the memory of the system controller. In the fourth aspect of the embodiments, A multi-layer vertical conveyor system for transporting uncontained box units back and forth to a multi-layered storage structure having an array of vertically stacked storage shelves is provided. The multi-layer vertical conveyor includes a skeleton. It has discontinuous platform guides, a drive member connected to the skeleton, And a support platform coupled to the driving member, Each support platform has a support member and at least two followers, It is constructed to engage the discontinuous platform guides. The drive member is configured to move the support platforms relative to the skeleton in a substantially continuous vertical loop. Each support platform is constructed to support a plurality of uncontained box units, Each of the plurality of uncontained box units is disposed in a different predetermined area of a further support deck. The support members are guided by the discontinuous platform guides over substantially the entire path of the substantially continuous vertical loop. Wherein the support members are guided through the engagement of the at least two followers with the discontinuous platform guides in a three-point contact manner substantially throughout the path, Wherein the three-point contact is by engaging the other of the at least two followers when one of the at least two followers passes a discontinuity of the other discontinuous platform guide Discontinuous platform guides are implemented. According to a fourth aspect of the embodiments, The plurality of uncontained box units are cantilevered on the support platforms. According to a fourth aspect of the embodiments, The predetermined area of the individual support platform includes an array of predetermined areas. According to a fourth aspect of the embodiments, The supports are guided by the guides substantially in the path in a three-point contact. According to the first sub-state of the fourth aspect of the embodiments, At least one transport device extends into a path of the support platforms, The at least one transport device is configured to load the uncontained bin units to a different predetermined area of a support platform or unload the uncontained bin units therefrom. According to the first sub-state of the fourth aspect of the embodiments, At least one of the uncontained box units is placed in or removed from the predetermined area of the individual support platform. It is independent of other uncontained box units that are disposed in other different predetermined areas of the predetermined areas of the individual support platforms. According to the first sub-state of the fourth aspect of the embodiments, The at least one transport device includes at least one feed transport station, Extending into the path of the support platforms, the support platforms are constructed to interface with the at least one feed station -81 - 201242865, Passing the uncontained box units from the at least one feed station to at least a predetermined area of an inbound support platform, The at least one predetermined area of the inbound support platform corresponds to a position of the at least one inbound transport station. In one other aspect, The at least one inbound transport station includes a stacker. It is constructed to form individual automated cart loads or uncontained box units for placement into individual predetermined areas of the support platform of the station, The box units that are not included include at least one box unit that is not included. In another aspect, The at least one inbound transport station includes a depalletizer (depalletizer). Used to remove the uncontained box units from the container. According to the first sub-state of the fourth aspect of the embodiments, The at least one transport device includes at least one delivery station. It extends into the path of the supporting platforms, The support laminates are constructed to interface with the at least one delivery station. Used to remove the uncontained box units from at least a predetermined area of an outbound support platform, The predetermined area of the outbound support platform corresponds to a position of the at least one delivery station. In another aspect, The at least one delivery transport station includes a palletizer (palletizer), Used to place the uncontained box units into the container. In yet another aspect, The multi-layer vertical conveyor and the at least one delivery station are constructed such that the uncontained box units are removed from the multi-layer vertical conveyor in a predetermined sequence. According to the first sub-state of the fourth aspect of the embodiments, Each support platform includes a first elongated finger and the at least one transport device includes a second thin -82-201242865 elongate finger. The first and second elongated fingers are configured to allow the support platform to pass through the at least one transport device to effect transport of the uncontained bin units. According to the first sub-state of the fourth aspect of the embodiments, Where the at least one transport device comprises more than one transport device, It is placed in a horizontally staggered vertical stack on the individual inbound and outbound sides of the vertical conveyor system. According to the first sub-state of the fourth aspect of the embodiments, The at least one transport device includes more than one transport device, It is placed on the side of the individual inbound and outbound sides of the vertical conveyor system in a vertical stack stacked one above the other. The amount that causes at least one of the more than one transport devices to extend into the individual inbound and outbound support platforms is different than the amount of other transport devices of the one or more transport devices. According to the first sub-state of the fourth aspect of the embodiments, The at least one transport device includes an automated cart transport location disposed on each shelf of the multi-layer storage structure to allow the transport vehicle to transport the uncontained bin units to each shelf Between the storage module and the supporting platform. According to a fourth aspect of the embodiments, The multi-layer vertical conveyor system further includes a transport vehicle that is constructed to interface directly with the support platforms. The transport vehicles are constructed to transport the at least one uncontained box unit between the support platforms and the storage modules using a substantially one pick operation. In the fifth aspect of the embodiments, A transport system for the storage system -83- 201242865 is available, The warehousing system has a pool of storage layers with respective storage areas. The transport system, It has a support platform with a discontinuous platform guiding the coupling to the skeleton, the support members, It is constructed to engage the discontinuous three-point contact connection and is connected to the skeleton, Between the at least two followers, the at least two of the individual discrete platform guides pass through a discontinuity within the component to achieve a transport on each storage layer Device. Each of the one or more uncontained box units is filled in the area. The vertical conveyor is constructed to transport the box back and forth to more than one storage layer. The contained box can be selectively removed from or removed from the transport. The interface of the crane to the transport device, It is constructed to transport the unit substantially directly to each support platform and transport it back and forth to the storage areas. According to the fifth aspect of the embodiments, The area of the array, And more than one of the one or more different portions of the uncontained region are placed on or removed from the platform. According to the fifth aspect of the embodiments, The elongated fingers and the transport device comprise a second column of storage layers, Each of the reservoirs has a vertical conveyor member skeleton and the movable platform has at least two slave platform guides and the other of the followers is guided by the discontinuous platform via a three-point contact connection to make. The transport system also includes a support platform that is constructed to be one or more uncontained on a support platform, Wherein the one or more unplaced in the vertical transport straight conveyor has a transport between the uncontained boxes and the transport device to include a predetermined area and a pre-transmission The support device selectively supports the platform, including the first elongated finger, The -84-201242865 - and the second elongated fingers are constructed to pass between each other, The uncontained box units are transported between each support platform and the transport device. In the sixth aspect of the embodiments, A charging system for an autonomous transport vehicle in a warehouse storage system is provided. The charging system includes at least one charging contact. It is disposed on each picking floor of the storage system. Each of the at least one charging contact is disposed at a multi-level vertical conveyor station, At least one power supply, It is constructed to supply power to the at least one charging contact, And a first controller, It is constructed to apply power from the power supply to the at least one charging contact, Used to charge an autonomous transport vehicle at the multi-layer vertical conveyor station, Wherein the first controller is configured to supply power to the charging contacts while the autonomous transport vehicle exchanges objects with a multi-layer vertical conveyor accessible through the multi-layer vertical conveyor station. According to the first sub-state of the sixth aspect of the embodiments, The charging system further includes a capacitor disposed on the autonomous transport vehicle and a receptacle configured to interface with the at least one charging contact. The interface contact is constructed to transfer power to the capacitor. According to the first sub-state of the sixth aspect of the embodiments, The socket includes a contact pad and the at least one charging contact includes an actuatable member, It is constructed to contact the contact pad. According to the sixth aspect of the embodiments, Each picking floor of the storage system includes at least one porch extending from the transport deck and disposed adjacent to another multi-layer vertical conveyor, wherein at least one charging contact is disposed at -85-201242865 At least one of the porches. According to the sixth aspect of the embodiments, The operation of the at least one charging contact is associated with an associated multi-layer vertical conveyor. So that when the at least one charging contact is not available, The controller treats the multi-layer vertical conveyor for the picking floor where the at least one charging contact is located as unusable. According to the sixth aspect of the embodiments, The first controller is constructed to control operation of the power supply and the multi-layer vertical conveyor. According to a second sub-state of the sixth aspect of the embodiments, The charging system further includes a second controller, It is constructed to simultaneously perform a charging cycle for each autonomous transport vehicle located on at least one picking floor when the autonomous transport vehicle exchanges objects with the multi-layer vertical conveyor. According to the seventh aspect of the embodiments, A warehousing system is provided. The storage system includes at least one multi-layer vertical conveyor, At least one picking floor with a storage location, At least one porch and transport deck connecting the storage locations and the at least one porch, Each of the at least one porch has at least one transport station configured to provide access to the individual multi-layer vertical conveyor of the at least one multi-layer vertical conveyor, At least one autonomous transport vehicle' is disposed on each of the at least one picking floor, The at least one self-contained transport vehicle includes a rechargeable power storage device, And at least one power station, It is disposed in each of the at least one porch, Each of the at least one charging stations is configured such that the recharging power storage of the at least one autonomous transport vehicle is at least the at least one autonomous transport vehicle at the at least one transport station a charging station is connected, The at least one charging -86-201242865 station is configured to provide power to the rechargeable power storage when the at least one autonomous transport vehicle exchanges objects with the at least one multi-layer vertical conveyor. According to the seventh aspect of the embodiments, Each of the at least one multi-layer vertical conveyor includes a conveyor controller, The conveyor controller is constructed to control the operation of individual multi-layer vertical conveyors and the operation of at least one charging station located in a porch associated with the individual multi-layer vertical conveyor. According to the seventh aspect of the embodiments, A layer of controller is coupled to each of the picking floors and is configured to control the storage and retrieval operations of the individual layers. The layer controller is further constructed to link the operation of the at least one multi-layer vertical conveyor to the operation of the associated charging station. Access to the at least one multi-layer vertical conveyor is prevented when one or more of the associated charging stations are unavailable. According to a first sub-state of the seventh aspect of the embodiments, The warehousing system includes at least one power supply. The at least one power supply is commonly connected to a charging station of the vertically adjacent picking floor of the at least one picking floor. According to a first sub-state of the seventh aspect of the embodiments, The charging stations that are commonly connected to the at least one power supply include a 2x2 power station array. Wherein the first two charging stations in the array are disposed on a first picking floor and the second two charging stations in the charging station array are disposed on a second picking floor. The first two charging stations and the two charging stations are vertically stacked one on top of the other. -87- 201242865 According to a second sub-state of the seventh aspect of the embodiments, Each porch includes at least two charging stations that are arranged on a common straight path. According to a second sub-state of the seventh aspect of the embodiments, The warehousing system includes a controller. It is constructed to reserve one or more of the at least two charging stations to allow an autonomous transport vehicle to enter and exit the one or more of the at least two charging stations. According to a second sub-state of the seventh aspect of the embodiments, The autonomous transport vehicles may be disposed at each of the at least two charging stations. The rechargeable power storage of each autonomous transport vehicle is charged in substantial synchronization. According to the seventh aspect of the embodiments, The storage system includes a controller, It is constructed to rearrange an autonomous transport vehicle assigned to the charging station at the first porch to one of the other porches when the charging station located at a first porch is unavailable Charging station according to the seventh aspect of the embodiments, The transport deck includes an array of autonomous transport vehicle movement paths. The array includes a longitudinal movement path, Providing access to the storage locations and the at least one porch and lateral movement paths, It provides a shunt between the longitudinal movement paths. It should be understood that The exemplary embodiments disclosed herein may be used individually or in any suitable combination thereof. It should also be understood that The foregoing description is only illustrative of the embodiments. Various substitutions or modifications can be deduced by those skilled in the art without departing from the embodiments. therefore, These embodiments are intended to cover all such alternatives falling within the scope of the following claims. Changes and changes. - 88- 201242865 [Schematic Description of the Drawings] The foregoing aspects and other features of the disclosed embodiments are explained in detail in the following description in conjunction with the accompanying drawings. among them: Figure 1 schematically illustrates an exemplary warehousing system in accordance with an embodiment; Figure 2A, 2B, 2C, 2D, 3A and 3B illustrate schematic views of a conveyor system in accordance with an embodiment; Figure 4 illustrates a schematic view of a conveyor shelf in accordance with an embodiment; Figure 5 schematically illustrates a conveyor system in accordance with an embodiment; 6A-6D schematically illustrate a transport station in accordance with an embodiment; Figure 7 is a schematic illustration of a method in accordance with an embodiment; Figure 8 is a flow chart of a method in accordance with an embodiment; 9A and 9B illustrate a feed station in accordance with an embodiment: Figure 1A illustrates a picking surface builder in accordance with an embodiment; Figure 11 illustrates a picking surface builder in accordance with an embodiment; Figure 12 illustrates a picking surface builder in accordance with an embodiment; 13A-13H and 14A-14C are schematic illustrations of exemplary operations of a portion of a warehousing system in accordance with an embodiment; Figure 15 illustrates a platform in accordance with an embodiment; Figure 16 illustrates a platform guide in accordance with an embodiment; Figure 17 illustrates a platform guide in accordance with an embodiment; Figure 18A illustrates a schematic view of a portion of the storage system of Figure 1 in accordance with an embodiment; 3-89-201242865 Figure 18B is a schematic illustration of another portion of the warehousing system of Figure 1 in accordance with an embodiment; Figure 19 illustrates a portion of the autonomous cart charging system in accordance with an embodiment, Figure 20 illustrates an exemplary diagram of an autonomous cart charging cycle in accordance with an embodiment; Figure 21 illustrates a schematic diagram of an exemplary topology of an autonomous cart charging system in accordance with an embodiment; Figure 22 is a schematic representation of a service interaction for an autonomous cart charging system in accordance with an embodiment; Figure 23 is a schematic illustration of an autonomous transport vehicle charging procedure in accordance with an embodiment; Figure 24 is a diagram of an exemplary charger state diagram in accordance with an embodiment. Figure 25 is a schematic illustration of a portion of a communication architecture for an autonomous cart charging system in accordance with an embodiment; Figure 26 illustrates a schematic view of a portion of a storage system in accordance with an embodiment; Figure 27 illustrates a schematic waypoint form for an autonomous transport vehicle in accordance with an embodiment; Figure 28 illustrates an exemplary schematic state diagram for an autonomous cart charging system in accordance with an embodiment; Figure 29 is a schematic illustration of an exemplary process diagram for charging processing of an autonomous cart charging system in accordance with an embodiment. -90- 201242865 [Explanation of main component symbols] 100 : Warehousing system 170 : Feeding station 1 6 0 : Delivery station 150A: Multi-layer vertical conveyor 150B: Multi-layer vertical conveyor 1 3 0 : Storage Structure 140A: Automatic delivery station 140B: Automatic delivery station 150: Multi-layer vertical conveyor 1 1 0 : Automatic transport vehicle 130A: Picking aisle 130B: Transport deck 6140: Automatic transport vehicle transport station 2 9 0 : Charging station 1 10A : Transport arm 2 5 0 : Storage layer 261 : Storage layer 262 : Storage layer 263 : Storage layer 264 : Storage layer 1 0 1 : Box unit 600 : Storage shelf -91 - 201242865 120 : Control 1 80 : Pass 73 0 : Reward 700: Electricity 710: Bone 720: Chain 900 : Flat 93 0 : Branch 720: Drive 9 1 1 : Bone 910 : Refers to 75 0 : Pick 75 2 : Pick 751: Pick 75 3 : Pick 8 1 0 : Reward 820: Remuneration 1 000 : Song 1 0 1 0A: 1010B: 1030: $ 240 : Lose 7305: I 170A : 3 server server network carrier board brain workstation racks struts struts moving chain racks take the face take the face take the surface to carry the i subunit stacker stacker 丨 send machine mechanism to send the board to the transport station -92 201242865 170B : Feeding station 1 0 5 0 : The first side 1 0 5 1 : Second side 1 060 : Transport platform 1 100 : Skeleton 1 1 1 0 : Drive motor 1 1 3 0 : Bracket system 1 1 2 0 : Rail 1 132 : Bracket base 1 1 3 5 : Finger 1 1 8 1 : Arrow 7 3 0 i : Laminate 7 3 Oii : Laminate 1140: Placement device 999 : Common direction 9000: Storefront configuration chart 900 1 : Characteristics of the box unit 1 4 1 : Feed station 2010 : Picking Face Builder 2012 : Roller 2014 : X-axis 2 1 1 2 : Passive roller table 2020 : Finger and pay station 203 0 : Controller -93 201242865 2040 : Drive motor and actuator 2 0 5 0: Gear motor 2022 : Y axis 2024: Z axis 2002 : Picking face builder 2 4 0 E : Elbow 22 80 : Picking surface holding position 2290 : Picking surface holding position 2160 : PLC controller 2140: Roller table 2 1 0 0 P : Pushpad 2100: Dipper 2120: Y-axis compression parts 2120P : Pressing plate 2 162 : Linear Actuator 2 164 : Linear Actuator 2 166 : Linear Actuator 2 170 : Sensor 2 1 8 0 : Gate 2999: Feed resolver 150PLC: Controller 1 3 0 1 : Box 1302 : Box 1399 : Arrow -94- 201242865 1 3 8 8 : 1 3 89 : A13: B13: 1 3 03 : 1401 : 1 402 : 1 403 : 2200: 150c : 2210 : 2220: 2230 : 2240 : 2250 : 2260 : 2270: 2280 : 2290 : 23 00 : 2310: 2320 : 23 3 0 : 23 3 5 ·· arrow direction direction box box box box platform guide multi-layer vertical conveyor guide wheel guide wheel guide wheel guide wheel frame chain coupling piece chain coupling piece payload support surface payload support surface motor drive chain drive chain Drive shaft chain system-95- 201242865 2340 : Chain system 23 5 0 : Boot section 2360: Guide section 23 70 : Guide section 2 3 80 : Boot section 2205: Frame 1 1 0C : Capacitor 130C1 : Conveyor access guide line 130C2: Conveyor access guide line 130C3: Conveyor access guide line 130L1: Move the guide line 13 0L2 : Move the guide line 130L3: Move the guide line 130L4: Move the guide line 130S1 : Split guide line 13 0S2 : Split guide line 13 0S3 : Split guide line 130S4 : Split guide line 13 0S5 : Split guide line 13 0S6 : Split guide line 130S7: Split guide line 130A: Picking the walkway 130A4: Picking the aisle 2 9 0 A : Charging station -96- 201242865 290B : Charging station 290P: Power supply 1 3 0 V : Porch 297 : Layer Manager 296 : Porch Manager 290G : Group Manager 2 9 0 C : Contact 1 1 0 D : Contact 290A2: Charging station 290B: Charging station 2 6 3 : Picking Floor 2 64 : Picking floor 298 : Automatic carrier controller 299 : Charge Manager 299S : Charging station status server 620: Charging communication service 130V1: Porch 1 3 0 V 2 : Porch 130V3 : Porch 1 3 0 V 4 : Porch 150-1 : Multi-layer vertical conveyor 150-2: Multi-layer vertical conveyor 150-3 : Multi-layer vertical conveyor 150-4: Multi-layer vertical conveyor -97- 201242865 1 10X : Automatic delivery vehicle 1 1 0 1 : Route point 1 1 0 2 : Route point 1 1 0 3 : Route point 1 104 : Route point 1 1 0 5 : Route point 1 1 0 6 : Route point 1 1 0 7 : Route point 1 1 0 8 : Route point 1 3 0 A 7 : Picking the aisle 290T1 : Transport position 2 90T2 : Transport position -98-