Autonomous transports for storage and retrieval systems

Abstract

An autonomous transport vehicle for transferring case units to and from predefined storage areas in an automated case unit storage system, the automated case unit storage system including an array of multilevel storage racks with picking aisles passing therebetween and at least one multilevel vertical conveyor having movable shelves, the autonomous transport vehicle including a frame configured to traverse the picking aisles and a transfer deck connecting the picking aisles to the at least one multilevel vertical conveyor for transferring case units between the predefined storage areas and the at least one multilevel vertical conveyor, and a controller connected to the frame, the controller being configured to effect movement of the autonomous transport vehicle through the picking aisles for accessing each storage area within a respective level of the array of multilevel storage racks and each shelf of the at least one multilevel vertical conveyor.

1 . An autonomous transport vehicle for transferring case units to and from predefined storage areas of at least one elevated storage rack in an automated case unit storage system, the autonomous transport vehicle comprising:
 a frame configured so that the autonomous transport vehicle traverses, as a unit, picking aisles and lanes interconnecting the picking aisles that are alongside each of the at least one elevated storage rack for transferring case units between the predefined storage areas and a case unit input or output; and   a controller connected to the frame, the controller being configured to effect movement of the autonomous transport vehicle on the picking aisles and lanes for accessing each storage area of the at least one elevated storage rack; and   an effector integral to and dependent from the frame, the effector defining a case unit seating surface contacting the case unit being held by the effector, the effector being configured to hold the case units and being configured to transfer the case units in a substantially vertical hand off exchange between the autonomous transport vehicle and each storage area.   
     
     
         2 . The autonomous transport vehicle of  claim 1 , wherein the effector is configured to transfer the case units in a substantially vertical hand off exchange between the autonomous transport vehicle and at least one vertical lift. 
     
     
         3 . The autonomous transport vehicle of  claim 2 , wherein the autonomous transport vehicle is configured to transfer case units between each storage area of the at least one elevated storage rack and the at least one vertical lift with one pick. 
     
     
         4 . The autonomous transport vehicle of  claim 2 , wherein the autonomous transport vehicle is configured to transfer case units to a predetermined area of the storage area of the at least one elevated storage rack. 
     
     
         5 . The autonomous transport vehicle of  claim 4 , wherein the effector of the autonomous transport vehicle is configured to interface with at least one elongated finger of a support shelf of the storage area for transferring the case units in a substantially vertical hand off exchange between the support shelf and the autonomous transfer vehicle. 
     
     
         6 . The autonomous transport vehicle of  claim 1 , wherein the frame has a first end and a second end, the autonomous transport vehicle further includes a pair of individually operable drive wheels disposed at the first end and driven by a drive system and a pair of idler wheels disposed at the second end. 
     
     
         7 . The autonomous transport vehicle of  claim 1 , wherein dynamic allocation of case units comprises the independent autonomous transport vehicle being configured to stop at a dynamically determined position along the picking aisles for aligning at least a portion of the effector with the at least one case unit or empty space located on the at least one elevated storage rack for effecting the substantially vertical hand off exchange of the at least one case unit between the autonomous transport vehicle and each storage area. 
     
     
         8 . The autonomous transport vehicle of  claim 1 , wherein the autonomous transport vehicle includes guiding devices with sensors for detecting raised support surfaces, separated by open channels, of slatted storage shelves of the predefined storage areas for effecting dynamic allocation of the case units in the predefined storage areas. 
     
     
         9 . The autonomous transport vehicle of  claim 8 , wherein the effector of the autonomous transport vehicle is configured to interface with the slatted storage shelves for transferring the case units in the substantially vertical hand off exchange between each support shelf and the autonomous transfer vehicle. 
     
     
         10 . A method for transferring case units to and from predefined storage areas in an automated case unit storage system, the method comprising:
 providing a frame of an autonomous transport vehicle for traversing, as a unit, picking aisles and lanes interconnecting the picking aisles that are alongside each of at least one elevated storage rack of the automated case unit storage system for transferring case units between the predefined storage areas and a case unit input or output; and   effecting movement of the autonomous transport vehicle, with a controller connected to the frame, on the picking aisles and lanes for accessing each storage area of the at least one elevated storage rack; and   transferring the case units in a substantially vertical hand off exchange between the autonomous transport vehicle and each storage area with an effector integral to and dependent from the frame, the effector defining a case unit seating surface contacting the case unit being held by the effector.   
     
     
         11 . The method of  claim 10 , further comprising transferring the case units in a substantially vertical hand off exchange between the autonomous transport vehicle and at least one vertical lift with the effector. 
     
     
         12 . The method of  claim 11 , wherein transferring case units between each storage area of the at least one elevated storage rack and the at least one vertical lift is effected with one pick. 
     
     
         13 . The method of  claim 11 , further comprising transferring case units with the autonomous transport vehicle to predetermined areas of the storage area of the at least one elevated storage rack. 
     
     
         14 . The method of  claim 13 , wherein transferring the case units to the predetermined areas of the support shelves includes interfacing the effector of the autonomous transport vehicle with at least one elongated finger of a support shelf of the storage area for transferring the case units in a substantially vertical hand off exchange between each support shelf and the autonomous transfer vehicle. 
     
     
         15 . The method of  claim 10 , wherein the frame has a first end and a second end, the autonomous transport vehicle further includes a pair of individually operable drive wheels disposed at the first end and driven by a drive system and a pair of idler wheels disposed at the second end. 
     
     
         16 . The method of  claim 10 , wherein the dynamic allocation of case units comprises the independent autonomous transport vehicle stopping at a dynamically determined position along the picking aisles for aligning at least a portion of the effector with the at least one case unit or empty space located on the at least one elevated storage rack for effecting the substantially vertical hand off exchange of the at least one case unit between the autonomous transport vehicle and each storage area. 
     
     
         17 . The method of  claim 10 , further comprising detecting, with guiding devices of the autonomous transport vehicle where the guiding devices have sensors, raised support surfaces of slatted storage shelves of the predefined storage areas, for effecting dynamic allocation of the case units in the predefined storage areas, wherein the raised support surfaces are separated by open channels. 
     
     
         18 . The method of  claim 17 , wherein the effector of the autonomous transport vehicle interfaces with the slatted storage shelves for transferring the case units in the substantially vertical hand off exchange between each support shelf and the autonomous transfer vehicle.