Automated shuttle vehicle material handling and storage system and method of use thereof

Abstract

Various embodiments relate to an automated deposit and retrieval system and methods of operating the same. In various embodiments, an automated deposit and retrieval system includes: a plurality of deposit aisles, each deposit aisle defined in part by a unidirectional shuttle traffic flow pattern; a plurality of shuttles configured to travel throughout the system to perform material handling operations; at least one vertical lift; a plurality of inter-aisle shuttle exit tracks configured to facilitate shuttle traffic flow in at least substantially the same direction, each inter-aisle shuttle exit track including: a first inter-aisle shuttle exit track including at least one lift interface location to facilitate shuttle traffic flow to the at least one vertical lift; and a second inter-aisle shuttle exit track arranged in at least substantially parallel configuration relative to the first inter-aisle shuttle exit track; wherein the inter-aisle shuttle exit tracks enable shuttles to transfer between the first inter-aisle shuttle exit track and the second inter-aisle shuttle exit track.

Description

Technical Field

[0001] Exemplary embodiments of the present invention relate generally to material handling systems for transporting articles, and more particularly to techniques for moving objects to and / or from various storage locations within a material handling system using multiple shuttles. Background Technology

[0002] Automated Storage and Retrieval Systems (ASRS), such as ASRS product elevators and automated shuttles configured to move along shuttle guide tracks, serve as material handling systems to facilitate the movement of large volumes of workpieces and maximize the use of valuable storage space. By combining automation, software, and human intervention, ASRS is a key component in material handling environments to optimize productivity and throughput across a variety of operations. Furthermore, ASRS offers flexibility and speed, allowing its use in applications ranging from e-commerce and omnichannel implementation to workpiece distribution. The applicant has recognized several technical challenges associated with utilizing automated shuttles in ASRS to retrieve objects stored at discrete storage locations within a shelving arrangement. Many of these identified challenges have been overcome through effort, ingenuity, and innovation, with numerous examples of these solutions detailed herein. Summary of the Invention

[0003] Various embodiments relate to an automated storage and retrieval system and methods of using the same. The automated storage and retrieval system includes: a plurality of storage channels, each including a plurality of storage locations positioned adjacent to a channel track extending along the length of the channel; a plurality of shuttles configured to travel throughout the automated storage and retrieval system to perform material handling operations; at least one vertical lift; and a plurality of inter-channel shuttle exit tracks configured to facilitate shuttle traffic flow in at least substantially the same direction, the inter-channel shuttle exit tracks including: a first inter-channel shuttle exit track configured to facilitate flow via at least one lift interface location defined along the first inter-channel shuttle exit track. The system includes: shuttle traffic flow to the at least one vertical lift; and a second inter-channel shuttle exit track arranged in a configuration at least substantially parallel to the first inter-channel shuttle exit track; wherein the plurality of inter-channel shuttle exit tracks are configured to allow at least one of the plurality of shuttles to transfer between the first inter-channel shuttle exit track and the second inter-channel shuttle exit track at one or more transfer locations along the first inter-channel shuttle exit track; and wherein the channel track of each of the plurality of storage channels is configured to facilitate shuttle traffic flow along the channel length of the channel track in the first shuttle travel direction, such that each of the plurality of storage channels is partially defined by a unidirectional shuttle traffic flow pattern.

[0004] In various embodiments, the automated storage and retrieval system may further include a central controller configured to transmit command signals to each of the plurality of shuttles to cause the plurality of shuttles to move throughout the automated storage and retrieval system. In various embodiments, the plurality of storage channels may be defined by further including a rack arrangement comprising a plurality of storage racks, each storage rack being defined by a plurality of storage shelves arranged in a vertically stacked configuration, such that the rack arrangement includes a plurality of rack arrangement levels, wherein each of the plurality of storage channels is disposed within a first rack arrangement level. In some embodiments, the plurality of storage racks may be arranged in a configuration that is at least substantially parallel, such that each of the plurality of storage channels is parallel to each other.

[0005] In various embodiments, the automated storage and retrieval system may further include an inter-channel shuttle entrance track operatively connected to a corresponding entrance end of each of the plurality of storage channels, such that the plurality of shuttles can enter each of the plurality of storage channels via the inter-channel shuttle entrance track, wherein the inter-channel shuttle entrance track is configured to facilitate a unidirectional shuttle traffic flow along the length of the shuttle entrance track. In some embodiments, the automated storage and retrieval system may further include a shuttle transport track extending from the plurality of inter-channel shuttle exit tracks to the inter-channel shuttle entrance track to facilitate the transport of the plurality of shuttles from the plurality of inter-channel shuttle exit tracks to the inter-channel shuttle entrance track. Additionally, in some embodiments, the automated storage and retrieval system may be configured to implement a shuttle recirculation traffic flow pattern defined at least in part by the respective unidirectional shuttle traffic flow pattern along each of the shuttle transport track, the inter-channel shuttle entrance track, the plurality of inter-channel shuttle exit tracks, and at least one of the plurality of storage channels.

[0006] In various embodiments, the automated storage and retrieval system may further include a shuttle storage location defined by a shuttle guide track segment, the automated storage and retrieval system being configured to store one or more shuttles of the plurality of shuttles configured to be in a standby configuration at a given time along the shuttle guide track segment. In some embodiments, the shuttle storage location may be defined along a secondary shuttle transport track extending at least partially between the inter-channel shuttle exit track and the inter-channel shuttle entrance track operatively connected to each of the plurality of storage channels. In various embodiments, the first inter-channel shuttle exit track may be at least partially defined by a first track length, and the second inter-channel shuttle exit track may be at least partially defined by a second track length at least substantially equal to the first track length.

[0007] Various implementations relate to a method for operating an automated storage and retrieval system using a one-way shuttle traffic flow pattern. The method includes: providing an automated storage and retrieval system comprising a first storage channel, the first storage channel including a channel track extending along a channel length and a plurality of storage locations positioned at least substantially adjacent to the channel track, wherein the channel track is configured to facilitate movement of a plurality of shuttles along the first storage channel in a shuttle travel direction defined along the channel length; causing a first shuttle to travel to a first storage location within the first storage channel, such that the first shuttle moves along the channel track of the first storage channel in the first shuttle travel direction; causing a second shuttle to travel to a second storage location within the first storage channel, such that the second shuttle moves along the channel track of the first storage channel in the first shuttle travel direction and both the first shuttle and the second shuttle are positioned within the first storage channel at a first moment; and causing the first shuttle to travel from the first storage location to a first storage channel exit in the first storage channel in the first shuttle travel direction.

[0008] In various embodiments, the method may further include traveling the second shuttle along the passageway track in the direction of travel of the first shuttle to the exit of the first storage passageway. In various embodiments, the method may further include entering a first vertical elevator among a plurality of vertical elevators via the first shuttle by traveling the first shuttle from the first storage passageway to a first elevator interface position defined along a first inter-passage shuttle exit track. Additionally, in various embodiments, the method may further include: determining that the first shuttle stops at the first elevator interface position along the first inter-passage exit track; identifying the upstream position of the second shuttle traveling along the first inter-passage exit track relative to the first shuttle; and transferring the second shuttle from the first inter-passage exit track to a second inter-passage exit track arranged in a configuration at least substantially parallel to the first inter-passage shuttle exit track. In some embodiments, the method may further include: after determining that the second shuttle has moved along the second inter-channel shuttle exit track to allow the first shuttle to pass, transferring the second shuttle from the second inter-channel exit track to the first inter-channel exit track; and entering a second vertical elevator among the plurality of vertical elevators via the second shuttle by traveling the second shuttle to a second elevator interface position defined along the first inter-channel shuttle exit track, wherein the second elevator interface position is located downstream of the first elevator interface position along the first inter-channel shuttle exit track.

[0009] In various embodiments, the method may further include: determining the system bandwidth of the automated storage and retrieval system based at least in part on the number of shuttles among the plurality of shuttles identified as performing material handling operations at a measurement time; identifying a third shuttle among the plurality of shuttles configured to be in a standby configuration; and providing instructions to the third shuttle to perform a third material handling operation to increase the number of shuttles among the plurality of shuttles operating within the automated storage and retrieval system. In various embodiments, the method may further include traveling the third shuttle to a third storage position located within the first storage channel, such that the third shuttle moves along the channel track of the first storage channel in the direction of travel of the first shuttle and such that each of the first shuttle, the second shuttle, and the third shuttle is positioned within the first storage channel at a first time. In various embodiments, the method may further include, after determining that the first shuttle has performed a first material handling operation, providing instructions to the first shuttle to perform a second material handling operation, including causing the first shuttle to travel to a third storage position within the first storage channel, such that the first shuttle moves along the channel track of the first storage channel in the direction of travel of the first shuttle. Additionally, in some embodiments, the automated storage and retrieval system includes a plurality of storage channels, and the method may further include: identifying that the exit of the first storage channel is positioned upstream of a first elevator interface portion corresponding to a first vertical elevator relative to a unidirectional shuttle recirculation traffic flow pattern defined by the automated storage and retrieval system; and wherein causing the first shuttle to travel to the first storage position within the first storage channel includes selectively causing the first shuttle to travel to the first storage channel among the plurality of storage channels, at least in part, based on the upstream position of the first storage channel exit relative to the first elevator interface portion corresponding to the first vertical elevator.

[0010] Various embodiments relate to an automated storage and retrieval system comprising: at least one storage channel including a plurality of storage locations positioned adjacent to a channel track defined by a channel length, wherein the storage channel is partially defined by a unidirectional shuttle traffic flow pattern extending along the channel length; a plurality of shuttles configured to travel throughout the automated storage and retrieval system to perform material handling operations; and a plurality of shuttle exit tracks configured to facilitate shuttle traffic flow from the storage channel to each of the object disposal locations, the plurality of shuttle exit tracks including: object disposal... The object disposal track is configured to facilitate shuttle traffic flow along the object disposal track in a first shuttle travel direction to at least one of a plurality of object disposal locations defined by the object disposal track; and a parallel passage track is arranged in a configuration at least substantially parallel to the object disposal track and configured to facilitate shuttle traffic flow along the parallel passage track in the first shuttle travel direction; wherein the plurality of shuttle exit tracks are configured to allow at least one of the plurality of shuttles to transfer between the object disposal track and the parallel passage track at one or more transfer locations along the track length of the object disposal track. Attached Figure Description

[0011] Now refer to the accompanying drawings, which may not be drawn to scale, and in which:

[0012] Figure 1 A schematic diagram of an exemplary automated storage and retrieval system according to various embodiments described herein is shown;

[0013] Figure 2 A schematic diagram of an exemplary automated storage and retrieval system according to various embodiments described herein is shown;

[0014] Figures 3A-3B Various schematic diagrams of exemplary automated storage and retrieval systems according to various embodiments described herein are shown;

[0015] Figure 4 This is a flowchart illustrating the operation of an automated storage and retrieval system according to an exemplary implementation scheme; and

[0016] Figure 5 This is a flowchart of an automated storage and retrieval system based on an exemplary implementation. Detailed Implementation

[0017] This disclosure describes various embodiments more fully with reference to the accompanying drawings. It should be understood that some, but not all, of the embodiments are shown and described herein. In fact, embodiments may take many different forms, and therefore this disclosure should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to enable this disclosure to meet applicable legal requirements. Throughout the document, similar reference numerals refer to similar elements.

[0018] First, it should be understood that although exemplary embodiments of one or more aspects are shown below, the disclosed components, systems, and methods can be implemented using any number of techniques (whether currently known or not yet available). This disclosure should in no way be limited to the exemplary embodiments, drawings, and techniques shown below, but modifications can be made within the scope of the appended claims and their equivalents. Although dimensional values ​​for various elements are disclosed, the drawings may not be drawn to scale.

[0019] The terms “example” or “exemplary” as used herein are intended to mean “served as an example, instance, or illustration.” Any implementation described herein as an “example” or “exemplary” is not necessarily more preferred or advantageous than other implementations.

[0020] When used herein, the terms “lateral,” “longitudinal,” and “vertical” are intended for reference and / or illustrative purposes to provide context for one or more aspects of the invention and should be strictly interpreted as limited to particular general directions. As a non-limiting example, as described herein with reference to the directional references provided in the accompanying drawings, a “lateral” direction may extend along the x-axis, a “longitudinal” direction may extend perpendicularly in a plane at least substantially the same as the lateral direction, such as, for example, along the y-axis, and a “vertical” direction may extend perpendicularly in a plane at least substantially perpendicular to both the lateral and longitudinal directions, such as, for example, along the z-axis.

[0021] The components shown in the accompanying drawings represent components that may or may not be present in the various embodiments of the invention described herein, such that embodiments may include fewer or more components than those shown in the drawings without departing from the scope of the invention.

[0022] Overview

[0023] Automated storage and retrieval systems utilize various material handling equipment, such as various carriages, trolleys, elevators, and conveyors, to facilitate the transport of objects to desired delivery locations within a factory or warehouse. For example, automated shuttles can be used to transport objects to and / or from various storage locations organized along storage aisles arranged within a storage environment. Additionally, vertical lift assemblies can be used to facilitate the vertical transport of one or more objects between different levels of storage racks or other storage environments. Various automated storage and retrieval systems may include shuttles disposed within each storage aisle of the system, configured to perform retrieval operations by: moving along the storage aisle in a first direction to a storage location; retrieving an object placed within the storage location; and returning to a vertical lift located adjacent to the storage aisle by moving along the storage aisle in a second direction opposite to the first direction. For example, such automated storage and retrieval systems may provide a vertical lift adjacent to each storage aisle defined therein, such that a shuttle configured for bidirectional travel within that particular storage aisle can enter the corresponding vertical lift adjacent to that particular storage aisle, thereby facilitating the transport of objects between the storage aisle and a remote location within the material handling environment.

[0024] This invention relates to an automated storage and retrieval system comprising multiple storage channels, each including a channel track configured to facilitate shuttle traffic flow of multiple shuttles along the channel length of the channel track in a first shuttle travel direction, such that each of the multiple storage channels is partially defined by a unidirectional shuttle traffic flow pattern. As described herein, an exemplary AS / RS is configured such that multiple shuttles are transported throughout the AS / RS according to a shuttle recirculation traffic flow pattern defined at least partially by the unidirectional shuttle traffic flow pattern of each of the multiple parallel storage channels. Because the unidirectional shuttle traffic flow pattern in each storage channel of the AS / RS at least substantially eliminates the risk of traffic congestion and / or traffic jams caused by two shuttles simultaneously positioned in the same storage channel moving in opposite directions and / or along conflicting shuttle traffic paths, the invention preferably employs an automated storage and retrieval system comprising shuttles restricted to bidirectional travel along the respective storage channels. Therefore, the present invention allows the AS / RS to be operated such that multiple shuttles performing corresponding material handling operations can be simultaneously positioned in the same storage channel, thereby increasing system output by minimizing the inefficiency associated with the travel time of bidirectional shuttles to and from each storage location in a single storage channel.

[0025] Additionally, the present invention includes an AS / RS comprising a plurality of inter-channel shuttle exit tracks configured to facilitate shuttle traffic flow in at least substantially the same direction. The plurality of inter-channel shuttle exit tracks include a first inter-channel shuttle exit track and a second inter-channel shuttle exit track. The first inter-channel shuttle exit track is configured to facilitate shuttle traffic flow via corresponding elevator interface positions defined along the first inter-channel shuttle exit track to each of a plurality of vertical elevators. The second inter-channel shuttle exit track is arranged in a configuration at least substantially parallel to the first inter-channel shuttle exit track. As described herein, the plurality of inter-channel shuttle exit tracks are configured to allow at least one of the plurality of shuttles to transfer between the first inter-channel shuttle exit track and the second inter-channel shuttle exit track at one or more transfer positions along the first inter-channel shuttle exit track. In such an exemplary configuration, the multiple inter-channel shuttle exit tracks of the AS / RS can be embodied as parallel passageways within a specific level of the AS / RS, providing a pathway for each of the multiple shuttles to enter each of the multiple vertical lifts to perform various storage and / or retrieval operations, thereby maximizing the efficiency and total output of the multiple vertical lifts. Additionally, the multiple inter-channel shuttle exit tracks of the present invention, as described herein, can facilitate at least substantially continuous shuttle traffic flow throughout the AS / RS by providing a second inter-channel shuttle exit track, which can be selectively used as a passageway to which at least a portion of the shuttles can be transferred (e.g., from the first inter-channel shuttle exit track) to avoid shuttles stopping at lift interface locations along the first inter-channel shuttle exit track, thereby at least substantially maximizing system throughput by minimizing congestion that can be caused by traffic disturbances within the AS / RS.

[0026] In various embodiments, the material handling system may include an exemplary automated storage and retrieval system (AS / RS) comprising a rack arrangement with multiple storage shelves. For example, the storage shelves of an AS / RS may be defined as a series of vertically arranged shelves, each supported by a support frame (e.g., columns and beams). The support frame may include vertical support members that separate the various levels within the storage shelf, and horizontal support members that support individual shelves. Each shelf may define and / or include multiple storage locations (e.g., divided into one or more compartments) configured to store at least one object (e.g., a container, product, reel, and / or other object configuration). In various embodiments where the rack arrangement of the AS / RS comprises multiple storage shelves, the rack arrangement may be at least partially defined by multiple rack arrangement levels, each rack arrangement level corresponding to a corresponding level defined in a plane that is at least substantially horizontal. For example, in an exemplary case where the shelf arrangement of an exemplary AS / RS includes multiple storage shelves, each storage shelf includes multiple storage racks arranged in a vertically stacked configuration, such that each storage shelf is defined by multiple storage shelf levels. These shelf arrangement levels can be jointly defined by each storage shelf level from the shelf arrangement that is defined within a common (e.g., at least substantially the same) horizontal plane (e.g., a level). Additionally, the shelf arrangement level defined within a plane that is at least substantially horizontal can be defined by each storage rack of the multiple storage shelves disposed within the plane that is at least substantially horizontal (e.g., each storage location of the storage location is disposed therein).

[0027] In various embodiments, the multiple shelves of the AS / RS rack arrangement can be arranged such that two adjacent storage shelves are configured in a configuration that is at least substantially parallel to each other. As described in further detail herein, two adjacent storage shelves can be arranged such that a passage is provided between them. For example, the passage can be defined at least in part by the vertical separation distance between the adjacent storage shelves.

[0028] Furthermore, as described herein, an exemplary AS / RS may include each of a plurality of storage racks arranged along a rack and / or a plurality of shuttle guide tracks extending between each of a plurality of storage racks arranged along a rack. The plurality of shuttle guide tracks may be configured such that a plurality of automated shuttles configured to travel thereon can move along the guide tracks between the respective racks (e.g., storage locations) within the rack arrangement. In various embodiments, the plurality of shuttle guide tracks of the AS / RS may include a plurality of channel tracks, each channel track being disposed along a respective channel length between a respective pair of adjacent storage racks. As described in further detail herein, an exemplary AS / RS may include a plurality of storage channels, each storage channel including a first storage shelf and a second storage shelf and a channel track, the first storage shelf and the second storage shelf being defined by corresponding portions of adjacent first and second storage shelves disposed in the same shelf arrangement level (e.g., in at least substantially the same horizontal plane), the channel track extending along the channel length between the first storage shelf and the second storage shelf such that a shuttle can access each of the storage positions within the first storage shelf and the second storage shelf via the channel track disposed between the first storage shelf and the second storage shelf.

[0029] In various embodiments, the shuttle of the AS / RS can be configured for movement along each of a plurality of shuttle guide tracks arranged within a shelving level of the system (e.g., in a single horizontal plane). For example, the plurality of shuttle guide tracks may include a first plurality of shuttle guide tracks arranged within a first shelving level and configured to facilitate shuttle transport of the first plurality of shuttles to and / or from a first storage passage defined by a first storage shelf, a second storage shelf, and a first passageway track arranged within the first shelving level. In such an exemplary embodiment, the plurality of shuttle guide tracks of the same AS / RS may also include a second plurality of shuttle guide tracks arranged within a second shelving level and configured to facilitate shuttle transport of the second plurality of shuttles to and / or from a second storage passage defined by a third storage shelf, a fourth storage shelf, and a second passageway track arranged within the second shelving level. Additionally, in various implementations, as described in further detail herein, the rack arrangement of an exemplary AS / RS may include a plurality of storage racks arranged such that each rack arrangement level of the AS / RS includes a plurality of storage channels, and a shuttle traveling along a plurality of shuttle guide tracks within the rack arrangement level may enter each of the plurality of storage channels.

[0030] Figure 1 A schematic diagram of an exemplary automated storage and retrieval system according to various embodiments described herein is shown. In particular, Figure 1A schematic diagram of an exemplary shelf arrangement hierarchy 10 of AS / RS 1 is shown, which includes a storage aisle 100. As shown, the storage aisle 100 may be defined by various components of the exemplary shelf arrangement arranged in at least substantially the same horizontal plane, including, for example, corresponding first storage shelves 101 and second storage shelves 102 of adjacent first and second storage shelves. As shown, the first storage shelves 101 and second storage shelves 102 of the exemplary storage aisle 100 may each extend in at least substantially longitudinal direction, such as, for example, in the y-direction, as shown, and may be arranged in a configuration that is at least substantially parallel to each other. The exemplary storage aisle 100 may also include a channel rail 110 that extends between the first storage shelves 101 and second storage shelves 102 in at least substantially the same longitudinal direction as the first storage shelves 101 and second storage shelves 102 disposed on either side of the channel rail. For example, the channel track 110 of the storage channel 100 may be arranged in a configuration that is at least substantially parallel to one or both of the adjacent first storage shelf 101 and second storage shelf 102. As shown, the channel track 110 may be defined at least in part by the channel length extending between its first channel end 111 and second channel end 112.

[0031] In various embodiments, AS / RS 1 may include a plurality of automated shuttles 50 configured to travel along a plurality of shuttle guide tracks disposed within a shelving level to facilitate the retrieval, storage, and / or transport of various objects throughout AS / RS 1. In various embodiments, the plurality of shuttles 50 may be positioned along each shelving level of the shelving arrangement. Thus, the shuttles 50 may be configured to move along a plurality of shuttle guide tracks disposed within a shelving level 10 to selectively retrieve and / or place objects into storage locations within storage shelves (e.g., first storage shelf 101, second storage shelf 102) disposed within the shelving level 10. For example, as shown, an exemplary aisle track 110 may be configured to enable shuttle traffic along the aisle length of the aisle track to facilitate the movement of one or more of the plurality of automated shuttles 50 toward and / or from one or more storage locations within the storage aisle 100. In such an exemplary configuration, the shuttle 50 can travel along the passageway track 110 to retrieve and / or place objects into one of a plurality of storage locations provided within the first storage shelf 101 (e.g., first storage location 101a, second storage location 101b, third storage location 101n, etc.) or the second storage shelf 102.

[0032] In various embodiments, shuttle 50 can be any type of single-level shuttle (OLS) vehicle commonly used in AS / RS, such as a shuttle, trolley, robot, etc. In various embodiments, shuttle 50 can be a self-contained unit that receives power (e.g., 48VDC) from a busbar located inside a shuttle guide track that can be mounted to a storage rack. In various embodiments, the power rail (e.g., providing 48VDC power to the track) can be powered by a DC power board. In various embodiments, a single DC power board can power multiple shuttles (e.g., up to six shuttles). In various embodiments, shuttle 50 can receive control system commands via a wireless local area network (WLAN). In various embodiments, shuttle 50 may have one or more wheels to facilitate its movement along the shuttle guide track via a motor. In various embodiments, the shuttle guide track may be attached to a storage rack. However, it should be understood that any of a variety of movement mechanisms can be used to move shuttle 50 (e.g., belt drive system, magnetic movement mechanism, chain drive system, etc.). Furthermore, it should be understood that the movement mechanism may be confined within the shuttle 50 (e.g., a motor positioned on the shuttle) or within the storage rack (e.g., a motor within the storage rack). In various embodiments, the exemplary shuttle 50 may include one or more sensors configured to sense movement of the shuttle 50 toward a desired storage location and / or engagement of the shuttle 50 with a specific object at a given storage location. For example, the shuttle 50 may be equipped with proximity sensors to determine the longitudinal and / or lateral position of the shuttle 50 within a given rack arrangement level (e.g., by identifying a storage aisle in which the shuttle 50 is positioned, identifying one or more storage locations arranged at least substantially adjacent to the shuttle 50, or any combination thereof) and / or the position of the shuttle 50 relative to one or more other shuttles among a plurality of shuttles disposed within the same rack arrangement level 10. In various implementations, the shuttle 50 may also be equipped with sensors and onboard devices, such as a Wi-Fi antenna for communicating with a warehouse control system (WCS) and / or a warehouse execution system (WES), overload protection, one or more power supplies (e.g., 24-volt and / or 48-volt power supplies), digital input and output modules, etc.

[0033] Additionally, the exemplary AS / RS 1 may include a plurality of vertical lifts 200 configured to facilitate vertical transport of objects between multiple levels of AS / RS 1. For example, at least a portion of the plurality of lifts 200 of AS / RS 1 may be configured to receive objects retrieved by shuttle 50 from storage channels 100 located within shelving level 10 (e.g., from exemplary storage location 101a within a first storage shelf 101 of storage channel 100) and to vertically move (e.g., lower) the retrieved objects to lift drop station 60. Lift drop station 60 may be connected to discharge conveyor 42 configured to deliver objects retrieved by shuttle 50 from shelving level 10 to downstream locations, such as destination locations within a manufacturing environment, for example. Alternatively, and / or additionally, at least a portion of the plurality of elevators 200 of AS / RS 1 may be configured to receive, at elevator lowering station 60, an object to be stored at a storage location within a first shelf arrangement level 10 of AS / RS 1, wherein the object to be stored may be delivered to elevator lowering station 60 via a discharge conveyor 41 configured to deliver the object to be stored from an upstream location to elevator lowering station 60. At least a portion of the plurality of elevators 200 may be configured to vertically move (e.g., elevate) the object to be stored from elevator lowering station 60 to the first shelf arrangement level 10, wherein the object to be stored may be transferred to one of a plurality of shuttles 50 arranged along a plurality of tracks within shelf arrangement level 10 and delivered to a storage location within an exemplary storage channel 100. As described in further detail herein, at least a portion of the plurality of elevators disposed within AS / RS 1 may be positioned in a configuration that is at least substantially aligned, such as, for example, along the end of a second passageway (e.g., the passageway exit end), such that the plurality of shuttles disposed within AS / RS 1 may enter at least a portion of the plurality of elevators 200 after leaving the storage passageway (e.g., storage passageway 100). Additionally or alternatively, in various embodiments, one or more of the plurality of elevators may be positioned along the passageway length of one or more storage passageways (e.g., adjacent to one or more storage shelves aligned along corresponding passageway tracks) to embody an in-passage elevator accessible by a shuttle traveling along the corresponding passageway track in the shuttle travel direction.

[0034] In various embodiments, the exemplary AS / RS 1 is operable such that each shuttle 50 moving throughout the storage aisle 100 travels along the aisle track 110 from a first aisle end 111 to a second aisle end 112 in the same single direction (e.g., the shuttle travel direction). Thus, each storage aisle 100 of the exemplary AS / RS 1 may be partially defined by a unidirectional shuttle traffic flow pattern defined along the aisle track 110 of that storage aisle. For example, in various embodiments, multiple shuttle guide tracks within a particular shelving level of the AS / RS 1 may be configured such that a shuttle 50 performing a retrieval operation relating to an object placed in a storage location 101a within the storage aisle 100 may be received by the aisle track 110 of the storage aisle 100 at its first aisle end 111. The storage channel 100 can be configured to facilitate a unidirectional shuttle traffic flow along the channel length of the channel track 110, such that each shuttle 50 traveling along the channel track 110 moves in the shuttle travel direction, such as, for example, in a first longitudinal direction 11 (e.g., in the negative y direction as shown). For example, a shuttle 50 can stop along the channel track 110 at a position adjacent to a designated storage location 101a defined within a first storage shelf 101 of the storage channel 100 to retrieve an object placed in that storage location. In such an exemplary configuration, after retrieving an object from storage location 101a, the shuttle 50 can continue traveling in the shuttle travel direction (e.g., the first longitudinal direction 11) toward a second channel end 112 of the channel track 110. As described herein, in an exemplary case where AS / RS 1 is operated such that each storage channel 100 therein defines a unidirectional shuttle traffic flow pattern from a first channel end 111 to a second channel end 112, a plurality of shuttles 50 may travel at least substantially simultaneously to corresponding plurality of storage locations (e.g., storage locations 101a, 101b, 101n) having the same storage channel 100, such that each of the plurality of shuttles 50 is positioned substantially simultaneously along the channel track 110. By operating AS / RS 1 such that each of the shuttles 50 travels along the channel track 110 of the storage channel 100 in the same shuttle travel direction (e.g., a first longitudinal direction 11), the risk of shuttle collisions and / or shuttle traffic flow obstruction caused by the movement of two or more shuttles 50 along intersecting, overlapping, and / or otherwise incompatible shuttle travel paths on the same channel track 110 can be at least substantially mitigated.

[0035] In various embodiments, this one-way shuttle traffic flow pattern for each storage channel 100 within the shelving level 10 can be achieved through a circular track configuration of multiple shuttle guide tracks within the shelving level 10. For example, the multiple shuttle guide tracks within the shelving level 10 can be arranged to define a circular track loop comprising at least a partially closed circular configuration, wherein an exemplary shuttle 50, after having traveled along the channel length of the channel track 110 in the first longitudinal direction 11 to the second channel end 112, can leave the storage channel 100 and travel along at least a portion of the circular track loop to recirculate to the first channel end 111 of the channel track 110. In various embodiments, an exemplary AS / RS 1, including a storage channel 100 disposed within a shelving level 10 and configured to facilitate shuttle transport along its channel track 110 according to a unidirectional shuttle traffic flow pattern defined at least partially by a first longitudinal direction 11, may also include a plurality of shuttle guide tracks disposed within the shelving level 10, which together facilitate a shuttle recirculation traffic flow pattern. In various embodiments, such as Figure 1 As shown, such an exemplary rack arrangement level 10 of AS / RS 1 may include multiple shuttle guide tracks, including a channel track 110 for storing channel 100, a shuttle transport track 130, an inter-channel shuttle entrance track 140, and multiple inter-channel shuttle exit tracks 120.

[0036] In various embodiments, the channel track 110, shuttle transport track 130, inter-channel shuttle entrance track 140, and multiple inter-channel shuttle exit tracks 120 of the storage channel 100 disposed within the rack arrangement level 10 can collectively define a circular track loop. This circular track loop is configured such that multiple shuttles 50 disposed within the rack arrangement level 10 can travel along the aforementioned shuttle guide track in order to define a shuttle recirculation traffic flow pattern defined at least in part by the multiple shuttles 50 traveling successively along the channel track 110 in the first longitudinal direction 11 (e.g., from the first channel end 111 to the second channel end 112). For example, the shuttle recirculation traffic flow pattern exhibited by the plurality of shuttles 50 traveling throughout the racking level 10 can be defined at least in part by two or more shuttles 50 that are at least substantially simultaneously positioned within the storage channel 100 (e.g., traveling along channel track 110 in the first longitudinal direction 11) at corresponding positions along the channel length of the storage channel. In various embodiments, each of the plurality of shuttle guide tracks defining at least a portion of the circular track loop disposed within the racking level 10 can be configured to define a unidirectional shuttle traffic flow pattern along the track length of the shuttle guide track. For example, each of the shuttle transport track 130, the inter-channel shuttle entrance track 140, and the plurality of inter-channel shuttle exit tracks 120 is configured for unidirectional shuttle traffic along their respective track lengths, such that shuttles traveling on them move along the length of the shuttle guide track in the respective single direction. Therefore, in various embodiments in which the shuttle transport track 130, the inter-channel shuttle entrance track 140, the multiple inter-channel shuttle exit tracks 120, and the channel track 110 are arranged in a at least substantially continuous circular track loop connecting the second channel end 112 of the channel track 110 to the first channel end 111, such as Figure 1 As shown, multiple shuttle guide tracks within the rack arrangement level 10 are configured to facilitate at least generally clockwise or alternatively counterclockwise shuttle recirculation traffic flow patterns through the loop track circuit, as described herein.

[0037] In various embodiments, multiple inter-channel shuttle exit tracks 120 may collectively define a section of shuttle guide track extending between the second channel end 112 of storage channel 100 and the shuttle transport track 130. Additionally, the multiple inter-channel shuttle exit tracks 120 may be arranged to facilitate the transport of shuttle 50 from storage channel 100 to each of a plurality of vertical lifts 200 disposed within AS / RS 1. For example, the multiple inter-channel shuttle exit tracks 120 may be arranged to extend in a direction at least substantially intersecting with the second channel end 112 of each storage channel in storage channel 100 disposed within rack arrangement level 10 (e.g., in a direction at least substantially perpendicular to the channel length). Therefore, in various embodiments, the multiple inter-channel shuttle exit tracks 120 may be at least substantially adjacent downstream of each of the storage channels 100 within the rack arrangement level 10, such that shuttles 50 traveling along the channel track 110 according to a unidirectional shuttle traffic flow pattern as described herein can exit the storage channel 100 via the corresponding second channel end 112 and be received by the multiple inter-channel shuttle exit tracks 120. Additionally, the multiple inter-channel shuttle exit tracks 120 may be arranged to extend at least substantially between each of the multiple elevators 200 of AS / RS 1, such that shuttles 50 can enter each of the multiple elevators 200 via the multiple inter-channel shuttle exit tracks 120. For example, in various embodiments, shuttle 50 may enter each of a plurality of elevators 200 via a corresponding elevator interface position defined along a plurality of inter-channel shuttle exit tracks 120, such that shuttle 50 traveling along the plurality of inter-channel shuttle exit tracks 120 in a first lateral direction 21 may stop at an elevator interface position on the plurality of inter-channel shuttle exit tracks in order to distribute and / or retrieve objects from the adjacent corresponding elevator 200.

[0038] like Figure 1As shown, the exemplary AS / RS 1 may include a plurality of elevators 200 arranged in one or more directions in a configuration at least substantially aligned, such as, for example, in a substantially lateral distribution (e.g., along the x-axis, as shown). Thus, a plurality of inter-channel shuttle exit tracks 120 may be arranged in a configuration at least substantially perpendicular to the channel track 110, such that a shuttle 50 traveling along one of the inter-channel shuttle exit tracks 120 moves along the track length of that inter-channel shuttle exit track in a first lateral direction 21 (e.g., in the negative x-direction as shown). In various embodiments, the plurality of inter-channel shuttle exit tracks 120 may include a first inter-channel shuttle exit track 121 and a second inter-channel shuttle exit track 122 arranged in a configuration at least substantially parallel to each other. Each of the first inter-channel shuttle exit track 121 and the second inter-channel shuttle exit track 122 may be configured to define a unidirectional shuttle traffic flow pattern along their respective track lengths. For example, the first inter-channel shuttle exit track 121 and the second inter-channel shuttle exit track 122 can both be configured such that an exemplary shuttle 50 traveling along the respective inter-channel shuttle exit tracks 121, 122 can move in a first lateral direction 21.

[0039] For example, as shown, a first inter-channel shuttle exit track 121 of a plurality of inter-channel shuttle exit tracks 120 may extend at least substantially between a plurality of elevators 200 of AS / RS 1, such that a shuttle 50 traveling along the first inter-channel shuttle exit track 121 may enter each of the plurality of elevators 200 via corresponding elevator interface positions defined along the first inter-channel shuttle exit track 121. As described herein, a shuttle 50 traveling along the first inter-channel shuttle exit track 121 in a first lateral direction 21 may stop along the first inter-channel shuttle exit track 121 at an elevator interface position adjacent to a corresponding elevator (e.g., adjacent to a first vertical elevator 200a or a second vertical elevator 200b of the plurality of elevators 200) to distribute and / or retrieve objects from the corresponding elevator of the plurality of elevators 200. Figure 1As further shown, a second inter-channel shuttle exit track 122 of the plurality of inter-channel shuttle exit tracks 120 may be arranged at least substantially adjacent to the first inter-channel shuttle exit track 121 and configured to extend in a direction at least substantially parallel to the first inter-channel shuttle exit track 121. The plurality of inter-channel shuttle exit tracks 120 defined by such an exemplary configuration can realize a parallel shuttle traffic flow pattern in the first inter-channel shuttle exit track 121 and the second inter-channel shuttle exit track 122, which is defined by a corresponding unidirectional traffic flow along each parallel track length in a first lateral direction 21. In various embodiments, the plurality of inter-channel shuttle exit tracks 120 are configured such that a shuttle 50 traveling along either the first inter-channel shuttle exit track 121 or the second inter-channel shuttle exit track 122 in the first lateral direction 21 can selectively transfer to an adjacent parallel inter-channel shuttle exit track among the plurality of inter-channel shuttle exit tracks 120. For example, in various embodiments in which a first shuttle 50 travels along a first inter-channel shuttle exit track 121 in a first lateral direction 21 and a second shuttle 50 stops along the first inter-channel shuttle exit track 121 at a downstream position relative to the first shuttle 50 at an elevator interface position corresponding to the second vertical elevator 200b, multiple inter-channel shuttle exit tracks 120 may be configured such that the first shuttle 50 can be transferred to the second inter-channel shuttle exit track 122. After moving from the first inter-channel shuttle exit track 121 to the second inter-channel shuttle exit track 122, the first shuttle 50 may continue traveling in the first lateral direction 21 (e.g., along the second inter-channel shuttle exit track 122) according to a shuttle recirculation traffic flow pattern, thereby avoiding traffic stoppage along the first inter-channel shuttle exit track 121, which may be caused by the engagement of the at least temporarily stationary second shuttle 50 with the second elevator 200b.

[0040] In an exemplary configuration in which multiple inter-channel shuttle exit tracks 120 are arranged in a configuration that is at least substantially parallel and configured for unidirectional shuttle traffic on the multiple inter-channel shuttle exit tracks in the same direction (e.g., a first lateral direction 21), the multiple inter-channel shuttle exit tracks 120 can be used as parallel passageways, and exemplary shuttles 50 can be transferred between these parallel passageways to facilitate the engagement of shuttles with each of the multiple elevators 200 of AS / RS 1 via elevator interface positions defined along the first inter-channel shuttle exit track 121, while simultaneously achieving at least a substantially continuous shuttle traffic flow of at least a portion of the multiple shuttles 50 traveling from the storage passageway 100 (e.g., the second passageway end 112) to the shuttle transport track 130. Multiple inter-channel shuttle exit tracks 120 may be configured such that shuttles 50 traveling along them may selectively transfer between a first inter-channel shuttle exit track 121 and a second inter-channel shuttle exit track 122 (e.g., from the first inter-channel shuttle exit track 121 to the second inter-channel shuttle exit track 122 and / or from the second inter-channel shuttle exit track 122 to the first inter-channel shuttle exit track 121) in order to avoid shuttle interference detected along one of the multiple inter-channel shuttle exit tracks 120. For example, the parallel passageways defined by the configuration of the multiple inter-channel shuttle exit tracks 120 enable multiple shuttles 50 arranged within the rack arrangement level 10 to enter each of the multiple elevators 200 to perform various storage and / or retrieval operations, while at the same time, by using the passageway configuration of the second inter-channel shuttle exit track 122, shuttle traffic congestion that would hinder shuttle recirculation traffic flow patterns during the use of one or more elevators 200 is avoided, thereby facilitating at least substantially continuous shuttle traffic flow along the multiple inter-channel shuttle exit tracks 120.

[0041] As a non-restrictive example, Figure 5 This document references various embodiments. Figures 1-3B A flowchart illustrating exemplary operation of an automated storage and retrieval system using a unidirectional shuttle traffic flow pattern and shuttle exit tracks between multiple parallel channels. (Reference) Figure 5 Box 502, an exemplary method 500 for operating the automated storage and retrieval system 1 includes entering a first vertical lift among a plurality of vertical lifts via a first shuttle by causing a first shuttle to travel from a first storage channel to a first lift interface position defined along a shuttle exit track between the first channels. Now refer to Figure 5Referring now to box 504, the method 500 of operating AS / RS 1 includes determining that a first shuttle has stopped at a first elevator interface position along a first inter-channel exit track. Referring now to box 506, the method 500 further includes identifying a one-way shuttle traffic flow pattern relative to the first inter-channel exit track for a second shuttle traveling along the first inter-channel exit track at an upstream position of the first shuttle. The method 500 may also include transferring the second shuttle from the first inter-channel exit track to a second inter-channel exit track arranged in a configuration at least substantially parallel to the first inter-channel shuttle exit track, as shown in box 508. Referring now to box 510, the method 500 of operating AS / RS 1 may include transferring the second shuttle from the second inter-channel exit track to the first inter-channel exit track after determining that the second shuttle has moved along the second inter-channel shuttle exit track to allow the first shuttle to pass. Additionally, method 500 may include accessing a second vertical elevator among a plurality of vertical elevators via the second shuttle by traveling the second shuttle to a second elevator interface position defined along the first inter-channel shuttle exit track, wherein the second elevator interface position is located downstream of the first elevator interface position along the first inter-channel shuttle exit track, as shown in box 512.

[0042] Although Figure 1 The exemplary embodiments depicted herein illustrate multiple inter-channel shuttle exit tracks 120 comprising two inter-channel shuttle exit tracks (e.g., a first inter-channel shuttle exit track 121 and a second inter-channel shuttle exit track 122). However, it should be understood that the multiple inter-channel shuttle exit tracks 120 may include at least substantially more than two inter-channel shuttle exit tracks arranged in a configuration that is at least substantially parallel to embody parallel passageways. As a non-limiting example, in various embodiments, the multiple inter-channel shuttle exit tracks 120 may include three, four, five, seven, ten, or any number of inter-channel shuttle exit tracks sufficient to enable the operability of the AS / RS described herein.

[0043] Additionally, in various embodiments, selective transfers of shuttle 50 between multiple inter-channel shuttle exit tracks 120 (e.g., from the first inter-channel shuttle exit track 121 to the second inter-channel shuttle exit track 122 or from the second inter-channel shuttle exit track 122 to the first inter-channel shuttle exit track 121) can be achieved by one or more transfer tracks extending between the first inter-channel shuttle exit track 121 and the second inter-channel shuttle exit track 122. For example, in various embodiments, one or more of the transfer tracks 201a, 201b can facilitate bidirectional traffic flow, such that shuttle 50 traveling along the multiple inter-channel shuttle exit tracks 120 can transfer from the first inter-channel shuttle exit track 121 to the second inter-channel shuttle exit track 122 in a first transfer direction or from the second inter-channel shuttle exit track 122 to the first inter-channel shuttle exit track 121 in a second transfer direction. In various implementation schemes, one or more transfer tracks 201a, 201b may be confined within the shuttle exit track 120 between multiple channels, such as Figure 1 The exemplary shelf arrangement is shown in level 10. Alternatively, or additionally, as in... Figure 2 As shown in the exemplary rack arrangement hierarchy 20, one or more transfer tracks 201a, 201b may include different shuttle track guide sections extending in at least a partially vertical direction between the first inter-channel shuttle exit track 121 and the second inter-channel shuttle exit track 122.

[0044] In various implementation schemes, such as Figure 1As further illustrated, multiple shuttle guide tracks disposed within an exemplary rack arrangement level 10 of AS / RS 1 may include a shuttle transport track 130 extending between multiple inter-channel shuttle exit tracks 120 and inter-channel shuttle entrance tracks 140 to facilitate the transport of multiple shuttles 50 from the multiple inter-channel shuttle exit tracks 120 to the inter-channel shuttle entrance track 140. In various embodiments, the shuttle transport track 130 may be defined at least in part by a track length extending between a first track end connected to one or more of the multiple inter-channel shuttle exit tracks 120 and a second track end connected to the inter-channel shuttle entrance track 140. For example, as shown, the exemplary shuttle transport track 130 may be configured to facilitate shuttle traffic along the track length of the shuttle transport track to define a portion of a circular track loop and facilitate a shuttle recirculation traffic flow pattern relative to one or more storage channels 100 disposed within a given rack arrangement level 10 of AS / RS 1. As described herein, shuttle transport track 130 is configured to define a unidirectional shuttle traffic flow pattern along the track length of the shuttle transport track. For example, shuttle transport track 130 may be configured such that an exemplary shuttle 50 traveling along shuttle transport track 130 (e.g., from inter-channel shuttle exit track 120 to inter-channel shuttle entrance track 140) can move in a second longitudinal direction 12. As shown, the second longitudinal direction 12 may be defined by a longitudinal direction at least partially opposite to (e.g., in the positive y-direction) a first longitudinal direction 11 defined by the channel track 110 of the storage channel 100, as illustrated. For example, as shown, the shuttle transport track 130 may be configured to facilitate the movement of the shuttle 50 along the shuttle transport track in the second longitudinal direction 21, so as to guide the movement of the shuttle 50 received from the inter-channel shuttle exit track 120 toward the first channel end 111 of the channel track 110 of the storage channel 100 (e.g., toward the inter-channel shuttle entrance track 140).

[0045] Additionally, multiple shuttle guide tracks disposed within the exemplary racking level 10 of AS / RS 1 may include an inter-channel shuttle entry track 140 extending between a shuttle transport track 130 and a first channel end 111 of a channel track 110 of each storage channel 100 defined within the racking level 10. The inter-channel shuttle entry track 140 is configured to operatively connect the shuttle transport track 130 to the channel track 110 of the storage channel 100 (e.g., the first channel end 111) to facilitate the transport of multiple shuttles 50 from the shuttle transport track 130 to the channel track 110 of a particular storage channel 100. In various embodiments, the inter-channel shuttle entry track 140 may be at least partially defined by a track length extending between a first track end connected to the shuttle transport track 130 and a second track end connected to the first channel end 111 of the channel track 110 defining a portion of the storage channel 100. For example, as shown, an exemplary inter-channel shuttle entrance track 140 may be configured to enable shuttle traffic along the track length of the inter-channel shuttle entrance track in order to define a portion of a circular track loop, as described herein, and to facilitate a shuttle recirculation traffic flow pattern relative to one or more storage channels 100 disposed within a given shelving level 10 of AS / RS 1. For example, the inter-channel shuttle entrance track 140 may be arranged to extend in a direction (e.g., at least substantially perpendicular to the channel length) intersecting at least substantially with a first channel end 111 of each of the storage channels 100 disposed within the shelving level 10. Thus, in various embodiments, the inter-channel shuttle entrance track 140 may be at least substantially immediately upstream of each of the channel tracks 110 disposed within the shelving level 10, such that a shuttle 50 may selectively enter the corresponding storage channel 100 via the inter-channel shuttle entrance track 140. As described herein, the inter-channel shuttle entrance track 140 is configured to define a unidirectional shuttle traffic flow pattern along the track length of the inter-channel shuttle entrance track. For example, the inter-channel shuttle entrance track 140 may be configured such that an exemplary shuttle 50 traveling along the inter-channel shuttle entrance track 140 (e.g., from shuttle transport track 130 to channel track 110 of a particular storage channel 100) can move in a second lateral direction 22. As shown, the second lateral direction 22 may be defined by a lateral reversal (such as, for example, a positive x-direction) that is at least partially opposite to a first lateral direction 21 defined by a plurality of inter-channel shuttle exit tracks 120, as illustrated. For example, as shown, the inter-channel shuttle entrance track 140 may be configured to facilitate the movement of shuttle 50 along the inter-channel shuttle entrance track in a second lateral direction 22, so as to guide the movement of shuttle 50 received from shuttle transport track 130 toward the first channel end 111 of channel track 110 for storing channel 100.For example, a shuttle 50 traveling along the inter-channel shuttle entrance track 140 in the second lateral direction 22 according to its one-way shuttle traffic flow pattern can be guided to one or more positions along the track length of the inter-channel shuttle entrance track 140, connected to a first channel end 111 of the channel track 110, so that the shuttle 50 can enter the corresponding storage channel 100 from the one or more positions. The channel track 110 of each storage channel 100 can be configured to receive the shuttle 50 transferred from the inter-channel shuttle entrance track 140 to the channel track, such that the movement of the shuttle 50 is redirected from the second lateral direction 22 to the first longitudinal direction 11 as the shuttle 50 travels along the channel track 110.

[0046] Figure 2 A schematic diagram of an exemplary automated storage and retrieval system according to various embodiments described herein is shown. In particular, Figure 2 A schematic diagram of an exemplary shelf arrangement level 10 of AS / RS 1 is shown, which includes a plurality of storage channels 100. In various embodiments, the shelf arrangement of the exemplary AS / RS 1 may include a plurality of storage shelves arranged to define a plurality of adjacent storage shelf pairs, each adjacent storage shelf pair defining a central channel disposed between adjacent storage shelves, as described herein. In such an exemplary case, as in... Figure 2 As shown in the exemplary embodiment, the exemplary shelving level 20 may include a plurality of storage channels 100 disposed therein, and a shuttle 50 configured to travel along a plurality of shuttle guide tracks within the shelving level 20 according to a shuttle recirculation traffic flow pattern can enter each of the plurality of storage channels, as described herein. For example, Figure 2The exemplary shelf arrangement hierarchy 20 shown includes a plurality of storage channels 100, including a first storage channel 100a, a second storage channel 100b, a third storage channel 100c, and a fourth storage channel 100d. In various embodiments, each of the plurality of storage channels 100 within the shelf arrangement hierarchy 20 may include a corresponding first storage shelf and a second storage shelf of an adjacent storage shelf. In the illustrated exemplary embodiment, the first storage channel 100a includes a first storage shelf 101 and a second storage shelf 102, the second storage channel 100b includes a third storage shelf 103 and a fourth storage shelf 104, the third storage channel 100c includes a fifth storage shelf 105 and a sixth storage shelf 106, and the fourth storage channel 100d includes a seventh storage shelf 107 and an eighth storage shelf 108. Additionally, the first storage channel 100a, the second storage channel 100b, the third storage channel 100c, and the fourth storage channel 100d of the plurality of storage channels 100 provided in the shelf arrangement level 20 may respectively include a first channel track 110a, a second channel track 110b, a third channel track 110c, and a fourth channel track 110d, each of these channel tracks extending along the corresponding channel length between two storage shelves in the corresponding storage channel in a longitudinal direction that is at least substantially the same as that of the storage shelves provided on either side of the channel track.

[0047] In various embodiments, the shelving arrangement of AS / RS 1 may include a plurality of shelves arranged in a laterally distributed configuration, wherein each of the plurality of shelves is arranged in a configuration at least substantially parallel to each other, such that each storage shelf in a corresponding storage shelf within the shelving arrangement level 20 (e.g., first storage shelf 101, second storage shelf 102, third storage shelf 103, fourth storage shelf 104, fifth storage shelf 105, sixth storage shelf 106, seventh storage shelf 107, eighth storage shelf 108) is similarly arranged in a configuration at least substantially parallel to each other. Therefore, the storage channels in the plurality of storage channels 100 may be arranged in a parallel configuration, wherein the channel length of each of the plurality of storage channels 100 is parallel to each of the other channel lengths defined by the other storage channels in the plurality of storage channels 100. For example, as Figure 2 As shown, the first storage channel 100a, the second storage channel 100b, the third storage channel 100c and the fourth storage channel 100d may each extend in at least substantially longitudinal directions, such as, for example, in the y direction, as shown in the figure.

[0048] In various embodiments, the exemplary shelf arrangement level 20 may be configured such that each of the plurality of storage channels 100 disposed within the shelf arrangement level 20 may include a corresponding channel track 110a, 110b, 110c, 110d, which extends along the channel length of the channel track in a direction at least substantially parallel to the longitudinal direction of the adjacent storage shelf of the corresponding storage channel. Figure 2 As shown, the channel tracks 110a, 110b, 110c, 110d of each of the plurality of storage channels 100a, 100b, 100c, 100d can be configured to facilitate shuttle traffic of at least one shuttle disposed within the storage channel along the channel length of the channel track in a first shuttle travel direction, in order to facilitate the movement of one or more automated shuttles 50 to and / or from one or more storage locations disposed within the storage channel 100. For example, as shown, each of the channel tracks 110a, 110b, 110c, 110d is configured to facilitate shuttle traffic of at least one shuttle 50 along the corresponding channel length of the channel track in a first shuttle travel direction (such as, for example, a first longitudinal direction 11 (e.g., in the negative x direction, as shown)). In various embodiments, each of the plurality of storage channels 100 disposed within the shelving level 20 may be configured to facilitate shuttle transport along a corresponding channel track (e.g., channel tracks 110a, 110b, 110c, 110d) of the storage channel according to a one-way shuttle traffic flow pattern, wherein the one-way shuttle traffic flow pattern is defined by the movement of each of the plurality of shuttles 50 along its corresponding channel track in at least substantially the same shuttle travel direction (e.g., in the first longitudinal direction 11).

[0049] In various embodiments, an exemplary rack arrangement level 20 including a plurality of storage channels 100 disposed therein may include a plurality of inter-channel shuttle exit tracks 120, as described herein, which extend in a direction at least substantially perpendicular to at least a portion of the plurality of parallelly constructed storage channels 100 (e.g., in a lateral direction such as the x-direction, as shown) and are arranged to connect to each of the plurality of storage channels 100 (e.g., at the second channel end of each respective channel track). Therefore, in various embodiments, the multiple inter-channel shuttle exit track 120 may include a second inter-channel shuttle exit track 122, which is at least substantially immediately downstream of each of the multiple storage channels 100 within the shelving level 20, such that multiple shuttles 50 traveling along any of the channel tracks 110a, 110b, 110c, 110d according to a unidirectional shuttle traffic flow pattern defined by each of the multiple storage channels 100, as described herein, may be received by the second inter-channel shuttle exit track 122 after the multiple shuttles 50 have been transported beyond the second channel end of the channel track of the storage channel 100. Additionally, the first inter-channel shuttle exit track 121 of the multiple inter-channel shuttle exit track 120 may be configured to facilitate the transport of multiple shuttles 50 from each of the multiple storage channels 100 within the shelving level 20 to one or more of the multiple vertical lifts 200 of AS / RS 1. For example, the first inter-channel shuttle exit track 121 may define a vertical lift entry track, along which multiple shuttles 50 may be received from at least one of the multiple storage channels 100 (e.g., 100a, 100b, 100c, 100d) and transported according to a unidirectional shuttle traffic flow pattern in the first latitude direction 12 (e.g., in the negative x direction, as shown) to one of the multiple lift interface positions defined by the first inter-channel shuttle exit track 121, as described herein, from which the shuttles 50 may enter adjacent lifts 200a, 200b, 200c, 200d among the multiple lifts 200.

[0050] As referenced in this article Figure 1The exemplary racking level 10, depicting multiple inter-channel shuttle exit tracks 120, is described in further detail. These tracks are configured to facilitate the transport of multiple shuttles 50 from multiple storage channels 100 to one or more of multiple elevators 200, or alternatively and / or additionally, to facilitate the transport of the multiple shuttles from the multiple storage channels to the shuttle transport track 130 due to shuttle recirculation traffic flow patterns defined within the racking level 20. For example, the first inter-channel shuttle exit track 121 and the second inter-channel shuttle exit track 122 may be configured to facilitate respective unidirectional shuttle traffic flow patterns defined at least partially along the respective track lengths of the two inter-channel shuttle exit tracks in a first lateral direction 21 (e.g., the negative x-direction, as shown). As described herein, the second inter-channel shuttle exit track 122 laterally spans each of the plurality of storage channels 100 disposed within the rack arrangement system 20, and is arranged in a configuration that is at least substantially parallel and adjacent to the first inter-channel shuttle exit track 121, such that the second inter-channel shuttle exit track 122 embodies a parallel passageway serving as an alternative shuttle travel path to the first inter-channel shuttle exit track 121. The plurality of inter-channel shuttle exit tracks 120 may be configured such that shuttles 50 traveling along the plurality of inter-channel shuttle exit tracks may selectively transfer between the first inter-channel shuttle exit track 121 and the second inter-channel shuttle exit track 122 to facilitate at least substantially continuous (e.g., unobstructed) shuttle traffic flow toward the shuttle transport track 130. Furthermore, the exemplary second inter-channel shuttle exit track 122, embodying parallel passageways, can be used to transport at least a portion of multiple shuttles 50 that do not require entry into one of the multiple elevators 200 as part of a storage and / or retrieval operation. For example, such exemplary shuttles 50 can be transported directly along the second inter-channel shuttle exit track 122 to the shuttle transport track 130 without being transferred to the first inter-channel shuttle exit track 121, thereby minimizing the risk that the movement of the exemplary shuttle 50 along the multiple inter-channel shuttle exit tracks 120 will be obstructed and / or slowed down by another shuttle 50 among the multiple shuttles that is stopped at the elevator interface location along the first inter-channel shuttle exit track 121.

[0051] like Figure 2Further illustrated, an exemplary rack arrangement hierarchy 20 including a plurality of storage channels 100 disposed therein may include inter-channel shuttle inlet tracks 140, as described herein, which extend in a direction at least substantially perpendicular to at least a portion of the parallel-constructed plurality of storage channels 100 (e.g., in a lateral direction such as the x-direction, as shown) and are arranged to connect to each of the plurality of storage channels 100 (e.g., at a first channel end of each respective channel track). The inter-channel shuttle inlet tracks 140 may be configured to operatively connect shuttle transport tracks 130 to each of the plurality of storage channels 100a, 100b, 100c, 100d at a respective first channel end of each of the plurality of storage channels (e.g., each of the respective channel tracks 110a, 110b, 110c, 110d) to facilitate the transport of a plurality of shuttles 50 from the shuttle transport tracks 130 to a particular storage channel among the plurality of storage channels 100. In various embodiments, the inter-channel shuttle entrance track 140 may be at least partially composed of a storage channel (such as, for example, one located furthest from the shuttle transport track 130) arranged in a plurality of storage channels 100, connected to a first track end of the shuttle transport track 130 and operably connected to the storage channel 100. Figure 2 The track length extending between the second track ends of the first channel end of the fourth storage channel 100d in the exemplary rack arrangement 20 shown is defined. Therefore, in various embodiments, the inter-channel shuttle entrance track 140 may be arranged at least substantially adjacent to upstream of each of the channel tracks 110a, 110b, 110c, 110d disposed within the rack arrangement hierarchy 20 (e.g., relative to a shuttle recirculation traffic flow pattern, as described herein), such that one or more shuttles 50 instructed (e.g., via a central controller of AS / RS 1) to perform storage and / or retrieval operations with respect to objects stored at storage locations within a specific storage channel of the plurality of storage channels 100 may travel along the inter-channel shuttle entrance track 140 in a second lateral direction 22 according to their unidirectional shuttle traffic flow pattern to a position at least substantially adjacent to the first channel end of the specific storage channel, wherein one or more shuttles 50 may turn into the specific storage channel including the designated storage location.

[0052] In various embodiments, a plurality of vertical lifts 200 of an exemplary AS / RS 1 may include a first portion and a second portion of a plurality of vertical lifts 200 operatively connected to a first conveyor configured to transport objects between AS / RS 1 and a first remote location, and the second portion operatively connected to a second conveyor configured to transport objects between AS / RS 1 and a second remote location. For example, as shown, the plurality of vertical lifts 200 may include a first portion of a plurality of vertical lifts 200 including a first vertical lift 200a and a second vertical lift 200b operatively connected to a first conveyor 61 configured to transport objects between AS / RS 1 and a first remote conveyor 41. As shown, the plurality of vertical lifts 200 may also include a second portion of vertical lifts including a third vertical lift 200c and a third vertical lift 200d operatively connected to a second conveyor 62 configured to transport objects between AS / RS 1 and a second remote conveyor 42. In this exemplary scenario, one or more shuttles 50 instructed to perform a storage and / or retrieval operation requiring entry into the first vertical lift 200a or the second vertical lift 200b may be selectively transported along the second inter-channel shuttle exit track 122 in the first lateral direction 21 to pass through lift interface positions corresponding to the third vertical lift 200c and the fourth vertical lift 200d. One or more shuttles 50 may be selectively transferred from the second inter-channel shuttle exit track 122 to the first inter-channel shuttle exit track 121 to avoid track interference caused by other shuttles of the multiple shuttles 50 positioned at the lift interface positions corresponding to the third vertical lift 200c and the fourth vertical lift 200d, while simultaneously facilitating transport of one or more shuttles to a specific vertical lift among the designated vertical lifts 200a, 200b.

[0053] Similarly, in an exemplary case where shuttle 50 is performing a storage and / or retrieval operation requiring shuttle 50 to enter a specific elevator (such as, for example, fourth elevator 200d) among a plurality of elevators 200, shuttle 50 may be selectively transported along inter-channel shuttle entrance track 140 to a specific storage channel (such as, for example, fourth storage channel 100d) located upstream of the elevator interface position corresponding to the specific vertical elevator (e.g., fourth elevator 200d) to be entered, which defines a portion of the shuttle recirculation traffic flow pattern defined within the rack arrangement level 20.

[0054] In various embodiments, the plurality of shuttles positioned within a rack arrangement level of an exemplary AS / RS may include one or more shuttles in a standby configuration at least temporarily in which one or more shuttles are not used to perform storage and / or retrieval operations at a given time. For example, the exemplary AS / RS may include a central controller that communicates with each of the plurality of shuttles 50 and is configured to determine, at least in part, the optimal number of shuttles 50 to be used in operation within a particular rack arrangement level at a given time based on the identified and / or estimated bandwidth of AS / RS 1 (e.g., within a particular rack arrangement level). For example, in various embodiments, the central controller of the AS / RS may identify fewer than a total number of shuttles 50 of the plurality of shuttles positioned at the rack arrangement level to perform one or more storage and / or retrieval operations, and thus, at least a portion of the plurality of shuttles 50 may be transported to a shuttle storage location defined by a portion of the shuttle travel rack along the rack arrangement level. Additionally, in various implementations, the central controller of the AS / RS can identify that the number of shuttles required to perform one or more storage and / or retrieval operations is greater than the total number of shuttles in operation among the multiple shuttles 50 at a given time, and therefore, can dispatch one or more shuttles from the multiple shuttles 50 stored in the shuttle storage locations within the rack-level arrangement from the shuttle storage locations for storage and / or retrieval operations.

[0055] Figures 3A-3B Various schematic diagrams are shown of exemplary automated storage and retrieval systems, including shelving arrangement hierarchies with shuttle storage locations, according to various embodiments described herein. For example... Figure 3AAs shown, in various embodiments, an exemplary rack arrangement level 30 may include shuttle storage locations 135 defined along a shuttle transport track 130 of the rack arrangement level. For example, at least a portion of a plurality of shuttles 50 disposed within the rack arrangement level 30 may be stored at least temporarily at a shuttle storage location 135 defined along at least a portion of the track length of the shuttle transport track 130. The at least portion of the plurality of shuttles 50 stored at the shuttle storage location 135 along the shuttle transport track 130 may be positioned in series along the track length of the shuttle transport track to define a queue of shuttles 50 that have not performed a storage and / or retrieval operation at a given time. In various embodiments, one or more shuttles 50 may be dispatched from the shuttle storage location as needed to perform one or more storage and / or retrieval operations. In this exemplary scenario, the central controller of AS / RS 1 can provide instructions to at least the shuttle located at the foremost position (e.g., the downstream, as defined by a one-way shuttle traffic flow) within shuttle storage location 135, causing the shuttle to be transported (e.g., dispatched) from shuttle storage location 135 to a designated storage channel among multiple storage channels 100 (e.g., via inter-channel shuttle entrance track 140). For example, after successfully performing a storage and / or retrieval operation, shuttle 50 can be transported to shuttle transport track 130 (e.g., via multiple inter-channel shuttle exit tracks 120) so that the shuttle can return to shuttle storage location 135. Such an exemplary shuttle 50 returning to shuttle storage location 135 is positioned at the rearmost position in the queue of shuttles 50 located within shuttle storage location 135.

[0056] As a further non-limiting example, Figure 3B An exemplary rack arrangement hierarchy 30 is shown, which includes shuttle storage locations 135 defined along a secondary shuttle transport track 130a. In various embodiments, the exemplary rack arrangement hierarchy 30 may include as described herein. Figure 1 and Figure 2The shuttle transport track 130 and secondary shuttle transport track 130a, described in further detail, allow at least a portion of a plurality of shuttles 50 disposed within the rack arrangement level 30 to be stored, at least temporarily, at shuttle storage positions 135 along the secondary shuttle transport track. For example, at least a portion of the plurality of shuttles 50 stored along the secondary shuttle transport track 130a may be positioned in series along the track length of the secondary shuttle transport track 130a to define a queue of shuttles 50 that have not performed storage and / or retrieval operations at a given time. The secondary shuttle transport track 130a may include different sections of shuttle guide track that are at least substantially separated from the shuttle transport track 130, such that the shuttles 50 disposed at the shuttle storage positions 135 along the secondary shuttle transport track 130a do not interrupt, interfere with, and / or otherwise obstruct the shuttle recirculation traffic flow pattern partially defined by the shuttle transport track 130. In various implementations, after determining that an additional shuttle 50 is required to perform storage and / or retrieval operations, the central controller of AS / RS 1 may provide instructions to the shuttle located at the foremost position (e.g., the downstream, as defined by a one-way shuttle traffic flow) within the shuttle storage location 135, which may cause the shuttle to be transported (e.g., dispatched) from the shuttle storage location 135 to a designated storage channel among a plurality of storage channels 100 (e.g., via inter-channel shuttle entrance track 140).

[0057] Figure 4 This document references various embodiments. Figures 1-3B A flowchart illustrating an exemplary operation of an automated storage and retrieval system using a one-way shuttle traffic flow pattern. (Reference) Figure 4 At block 402, an exemplary method 400 of operating the automated storage and retrieval system 1 includes traveling a first shuttle to a first storage location within a first storage channel, such that the first shuttle moves along a channel track of the first storage channel in a first shuttle travel direction. In various embodiments, where the AS / RS 1 includes a plurality of storage channels, traveling the first shuttle to the first storage location within the first storage channel may include selectively traveling the first shuttle to the storage location within the first storage channel from the plurality of storage channels, at least in part based on the relative positions of the first storage channels within a unidirectional shuttle recirculation traffic flow pattern defined by the automated storage and retrieval system. Referring now to... Figure 4In block 404, the method 400 of operating AS / RS 1 includes causing a second shuttle to travel to a second storage position located within a first storage channel, causing the second shuttle to move along the channel track of the first storage channel in the first shuttle travel direction, and causing both the first and second shuttles to be positioned within the first storage channel at a first moment. As described herein, a unidirectional shuttle traffic flow pattern defined by the first storage channel enables the operation whereby the first shuttle performing a first material handling operation and the second shuttle performing a second material handling operation can be positioned simultaneously along the channel track of the first storage channel by eliminating the possibility that two shuttles simultaneously positioned within the same storage channel execute instructions to move in opposite directions and / or along conflicting shuttle traffic paths. Referring now to... Figure 4 In box 406, the method 400 of operating AS / RS 1 includes causing a first shuttle to travel from a first storage position to a first storage channel exit in a first storage channel in a first shuttle travel direction. Additionally, refer to... Figure 4 In box 408, the method 400 of operating AS / RS 1 may include causing a second shuttle to travel along the channel track in the direction of travel of the first shuttle to the exit of the first storage channel. (As in...) Figure 1 As shown in the exemplary embodiment, the first storage channel outlet of the first storage channel 100 may be defined by the second channel end 112. Additionally, in various embodiments, the method 400 of operating AS / RS 1 may include, after determining that the first shuttle has performed a first material handling operation, providing instructions to the first shuttle to perform a second material handling operation, such as in… Figure 4 As shown in box 410. In various embodiments, providing instructions to the first shuttle to perform the second material handling operation may include moving the first shuttle to a third storage location within the first storage channel, such that the first shuttle moves along the channel track of the first storage channel in the direction of travel of the first shuttle.

[0058] Many modifications and other embodiments will occur to those skilled in the art to which this disclosure pertains, which have the benefits of the teachings presented in the foregoing description and associated drawings. Therefore, it should be understood that this disclosure is not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terminology is used herein, it is used only in a general and descriptive sense and not for purposes of limitation.

Claims

1. An automated storage and retrieval system, comprising: Multiple storage channels, each storage channel including multiple storage locations located adjacent to a channel track extending along the length of the channel; Multiple shuttles are configured to travel throughout the automated storage and retrieval system to perform material handling operations; At least one vertical lift; Multiple inter-channel shuttle exit tracks, configured to facilitate shuttle traffic flow in at least substantially the same direction, the multiple inter-channel shuttle exit tracks comprising: A first inter-channel shuttle exit track is configured to facilitate shuttle traffic flow to the at least one vertical elevator via at least one elevator interface location defined along the first inter-channel shuttle exit track. The second inter-channel shuttle exit track is arranged in a configuration that is at least substantially parallel to the first inter-channel shuttle exit track. A shuttle entrance track between storage channels, the shuttle entrance track being operatively connected to the corresponding entrance end of each of the plurality of storage channels; and A shuttle transport track extends from the shuttle exit track between the multiple channels to the shuttle entrance track between the channels. The plurality of inter-channel shuttle exit tracks are configured such that at least one of the plurality of shuttles can move between the first inter-channel shuttle exit track and the second inter-channel shuttle exit track at one or more transfer locations along the first inter-channel shuttle exit track; and The channel track, shuttle transport track, inter-channel shuttle entrance track, and inter-channel shuttle exit track of each of the plurality of storage channels define a circular track loop, wherein the channel track of each of the plurality of storage channels is configured to facilitate shuttle traffic flow along the channel length of the channel track in a first shuttle travel direction, such that each of the plurality of storage channels is partially defined by a unidirectional shuttle traffic flow pattern.

2. The automated storage and retrieval system of claim 1 further includes a central controller configured to transmit instruction signals to each of the plurality of shuttles to cause the plurality of shuttles to move throughout the automated storage and retrieval system.

3. The automated storage and retrieval system of claim 1, wherein the plurality of storage channels are defined by further including a rack arrangement, the rack arrangement comprising a plurality of storage racks, each storage rack being defined by a plurality of storage shelves arranged in a vertically stacked configuration, such that the rack arrangement comprises a plurality of rack arrangement levels, wherein each of the plurality of storage channels is disposed within a first rack arrangement level.

4. The automated storage and retrieval system according to claim 1, wherein the inter-channel shuttle entrance track is operatively connected to the corresponding entrance end of each of the plurality of storage channels, such that the plurality of shuttles can enter each of the plurality of storage channels via the inter-channel shuttle entrance track.

5. The automated storage and retrieval system of claim 4, wherein the shuttle transport track is configured to facilitate the transport of the plurality of shuttles from the plurality of inter-channel shuttle exit tracks to the inter-channel shuttle inlet tracks.

6. The automated storage and retrieval system of claim 5, wherein the automated storage and retrieval system is configured to implement a shuttle recirculation traffic flow pattern defined at least in part by a corresponding unidirectional shuttle traffic flow pattern along each of the shuttle transport track, the inter-channel shuttle entrance track, the plurality of inter-channel shuttle exit tracks, and at least one of the plurality of storage channels.

7. The automated storage and retrieval system of claim 1, comprising a shuttle storage location defined by a shuttle guide track segment, the automated storage and retrieval system being configured to store one or more of the plurality of shuttles configured to be in a standby configuration at a specific time along the shuttle guide track segment.

8. The automated storage and retrieval system of claim 1, wherein the first inter-channel shuttle exit track is at least partially defined by a first track length, and the second inter-channel shuttle exit track is at least partially defined by a second track length, the second track length being at least substantially equal to the first track length.

9. The automated storage and retrieval system of claim 3, wherein the plurality of storage racks are arranged in a configuration that is at least substantially parallel, such that each of the plurality of storage channels is parallel to each other.

10. The automated storage and retrieval system of claim 9, wherein the shuttle storage location is defined along a secondary shuttle transport track extending at least partially between the inter-channel shuttle exit track and the inter-channel shuttle entrance track operatively connected to each of the plurality of storage channels.

11. A method for operating an automated storage and retrieval system using a one-way shuttle traffic flow pattern, the method comprising: An automated storage and retrieval system is provided, the automated storage and retrieval system including a first storage channel, the first storage channel including a channel track extending along the channel length and a plurality of storage locations located at least substantially adjacent to the channel track, wherein the channel track is configured to facilitate the movement of a plurality of shuttles along the first storage channel in a shuttle travel direction defined along the channel length; The first shuttle is moved to the first storage position set in the first storage channel, so that the first shuttle moves along the channel track of the first storage channel in the direction of travel of the first shuttle; The second shuttle is moved to the second storage position set in the first storage channel, and the second shuttle moves along the channel track of the first storage channel in the direction of travel of the first shuttle, and both the first shuttle and the second shuttle are positioned in the first storage channel at the first moment. The first shuttle car travels from the first storage position to the first storage channel exit of the first storage channel in the direction of travel of the first shuttle car; Determine that the first shuttle car stops at the first elevator interface position along the exit track between the first channels; Identify the upstream position of the second shuttle traveling along the exit track between the first channels relative to the first shuttle; as well as The second shuttle is transferred from the first inter-channel exit track to the second inter-channel exit track, which is arranged in a configuration that is at least substantially parallel to the first inter-channel shuttle exit track.

12. The method of claim 11, further comprising causing the second shuttle to travel along the channel track in the direction of travel of the first shuttle to the exit of the first storage channel.

13. The method of claim 11, further comprising entering a first vertical elevator among a plurality of vertical elevators via the first shuttle car by causing the first shuttle car to travel from the first storage channel to a first elevator interface position defined along the shuttle car exit track between the first channels.

14. The method of claim 11, further comprising: The system bandwidth of the automated storage and retrieval system is determined at least in part based on the number of shuttles identified as performing material handling operations among the plurality of shuttles at the measurement time. Identify the third shuttle among the plurality of shuttles that is configured to be in standby configuration; as well as Instructions are provided to the third shuttle to perform a third material handling operation, thereby increasing the number of shuttles operating within the automated storage and retrieval system.

15. The method of claim 14, further comprising: After determining that the second shuttle has moved along the exit track of the second inter-channel shuttle to allow the first shuttle to pass, the second shuttle is transferred from the exit track of the second inter-channel to the exit track of the first inter-channel. as well as Access to the second vertical elevator among the plurality of vertical elevators is achieved by moving the second shuttle to the second elevator interface position defined along the first inter-channel shuttle exit track, wherein the second elevator interface position is located downstream of the first elevator interface position along the first inter-channel shuttle exit track.

16. The method of claim 11, wherein a third shuttle is moved to a third storage position located within the first storage channel, such that the third shuttle moves along the channel track of the first storage channel in the direction of travel of the first shuttle and such that each of the first shuttle, the second shuttle, and the third shuttle is positioned within the first storage channel at the first moment.

17. The method of claim 11, further comprising: After determining that the first shuttle has already performed the first material handling operation, an instruction is given to the first shuttle to perform the second material handling operation, including causing the first shuttle to travel to a third storage position set in the first storage channel, so that the first shuttle moves along the channel track of the first storage channel in the direction of travel of the first shuttle.

18. The method of claim 11, wherein the automated storage and retrieval system comprises a plurality of storage channels, and wherein the method further comprises: The first storage channel exit, which identifies the first storage channel, is positioned upstream of the first elevator interface section corresponding to the first vertical elevator, relative to the unidirectional shuttle recirculation traffic flow pattern defined by the automated storage and retrieval system; and The first shuttle moving to the first storage position located within the first storage channel includes selectively moving the first shuttle to the first storage channel among the plurality of storage channels based at least in part on the upstream position of the first storage channel outlet relative to the first elevator interface portion corresponding to the first vertical elevator.

19. An automated storage and retrieval system, comprising: At least one storage channel, the at least one storage channel including a plurality of storage locations located adjacent to a channel track defined by a channel length, wherein the storage channel is partially defined by a one-way shuttle traffic flow pattern extending along the channel length; Multiple shuttles are configured to travel throughout the automated storage and retrieval system to perform material handling operations; Multiple shuttle exit tracks, configured to facilitate shuttle traffic flow from the storage corridor to each object disposal location, the multiple shuttle exit tracks comprising: An object handling track, the object handling track being configured to facilitate shuttle traffic flow along the object handling track in a first shuttle travel direction to at least one of a plurality of object handling positions defined by the object handling track; and Parallel traffic tracks are arranged in a configuration that is at least substantially parallel to the object disposal track and are configured to facilitate shuttle traffic flow along the parallel traffic tracks in the first shuttle travel direction. A shuttle entrance track between channels, the shuttle entrance track being operatively connected to the respective channel entrance end of the storage channel; and A shuttle transport track extends from the shuttle exit track between the multiple channels to the shuttle entrance track between the channels. The plurality of shuttle exit tracks are configured such that at least one of the plurality of shuttles can transfer between the object disposal track and the parallel travel track at one or more transfer positions along the track length of the object disposal track. The storage channel's channel track, the shuttle transport track, the inter-channel shuttle entrance track, and the plurality of shuttle exit tracks define a circular track loop, wherein the storage channel's channel track is configured to facilitate shuttle traffic flow along the channel length of the channel track in a first shuttle travel direction, such that the storage channel is partially defined by a unidirectional shuttle traffic flow pattern.

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