Vertical sorting machine for product order fulfillment

Abstract

A product order fulfillment system includes a multi-level transport system and an elevator transport system. Each level of the multi-level transport system has a corresponding independent asynchronous level transport system, which is separate and different from the asynchronous level transport systems corresponding to each other level of the multi-level transport system. Each independent elevator axis of the elevator transport system is configured to independently hold at least one container and is communicatively connected to each asynchronous level transport system to provide exchange of the at least one container between each asynchronous level transport system and each independent elevator axis. Each independent elevator axis is communicatively connected to each other independent elevator axis (more than one elevator axis) to form a common output of mixed containers to form an ordered sequence of mixed containers according to a predetermined ordered sequence of container outputs.

Description

[0001] Cross-references to related applications

[0002] This application is a non-provisional application and claims the benefit of U.S. Provisional Patent Application No. 62 / 689,938, filed on June 26, 2018, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] Exemplary embodiments generally relate to storage and retrieval systems, and more particularly to the vertical sorting of items in storage and retrieval systems. Background Technology

[0004] Typically, in a storage and retrieval system, case units or items are picked up and transported to outbound packaging units (e.g., human pick-up units and / or automated palletizers). These picked case units are then ordered according to product orders for placement on pallets or other shipping containers.

[0005] Carton units output from the multi-tiered storage and retrieval system are transferred to a packing station, where they are placed on pallets for shipment. Typically, pallets consist of carton units of similar size and shape, forming stable layers of cartons on the pallet (sometimes with cardboard sheets placed between these layers). In some cases, each tier of the pallet is formed separately and then placed on the pallet to form a stacked layer. Mixed pallets are also possible. Typically, as pallet layers are formed, cartons are placed in other locations at buffer or palletizing stations so that the dimensions of the cartons are measured. A computer or other processor determines the arrangement (e.g., sequence) of the cartons based on the dimensions and instructs a robot to pick up cartons for placement in the pallet layers. In other cases, the sorting of items is performed automatically or by humans picking items from storage shelves, where items are transferred from storage to an outbound conveyor in a sorted order. This sorting typically occurs during the horizontal transfer of items and is usually slower than the rate at which items can be palletized or packaged into other shipping containers.

[0006] It will be advantageous to sort the box units used for placing on pallets during the vertical transport of the box units out of the storage and retrieval system storage structure, thereby increasing the throughput of the storage and retrieval system. Summary of the Invention

[0007] none. Attached Figure Description

[0008] In the following description, the foregoing aspects and other features of the disclosed embodiments are explained in conjunction with the accompanying drawings, wherein:

[0009] Figure 1AThese are schematic illustrations of an automated storage and retrieval system according to various aspects of the disclosed embodiments;

[0010] Figure 1B and Figure 1C It is a schematic illustration of a portion of an automated storage and retrieval system according to various aspects of the disclosed embodiments;

[0011] Figure 1D This is a schematic illustration of a mixed pallet load according to various aspects of the disclosed embodiments, the mixed pallet load being formed by an automated storage and retrieval system;

[0012] Figure 2A These are schematic illustrations of transport vehicles according to various aspects of the disclosed embodiments;

[0013] Figure 2B These are schematic illustrations of transport vehicles according to various aspects of the disclosed embodiments;

[0014] Figure 3 and Figure 3A It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0015] Figure 4A It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0016] Figure 4B It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0017] Figure 5A , Figure 5B , Figure 5C and Figure 5D It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0018] Figure 6A and Figure 6B It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0019] Figure 7 It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0020] Figure 7A It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0021] Figure 8 It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0022] Figure 8A , Figure 8B and Figure 8C It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0023] Figure 9 This is a flowchart illustrating the arrangement of vertical box units according to various aspects of the disclosed embodiments;

[0024] Figure 10 It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0025] Figure 10A , Figure 10B and Figure 10C It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0026] Figure 11 This is a flowchart illustrating the arrangement of vertical box units according to various aspects of the disclosed embodiments;

[0027] Figure 12 It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0028] Figure 12A , Figure 12B and Figure 12C It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0029] Figure 13 This is a flowchart illustrating the arrangement of vertical box units according to various aspects of the disclosed embodiments;

[0030] Figure 14 It is a schematic illustration of a portion of a storage and retrieval system according to various aspects of the disclosed embodiments;

[0031] Figure 15 It is a flowchart illustrating exemplary product order fulfillment methods according to various aspects of the disclosed embodiments; and

[0032] Figure 16 This is a flowchart of an exemplary product order fulfillment method according to various aspects of the disclosed embodiments. Detailed Implementation

[0033] Although aspects of the disclosed embodiments will be described with reference to the accompanying drawings, it should be understood that aspects of the disclosed embodiments can be embodied in many different forms. Furthermore, elements or materials of any suitable size, shape, or type can be used.

[0034] Figure 1AThis is a schematic illustration of an automated storage and retrieval system 100 according to various aspects of the disclosed embodiments, the automated storage and retrieval system including a multi-level transport system 190. Each level 130L of the multi-level transport system 190 includes an asynchronous level transport system 191, which is separate and distinct from the asynchronous level transport systems 191 at each other level 130L of the multi-level transport system 190. The multi-level transport system 190 is coupled to a feed sequence 173 of the mixing bins and feeds it to a lift transport system 500, which connects each asynchronous level transport system 191 to a bin output having a predetermined mixing bin output sequence. As shown, the lift transport system 500 (see also...) Figure 5A It may have separate inbound transport section 500A and outbound transport section 500B. Outbound transport section 500B has one or more elevator transport units 150CEL (see also...). Figure 5A Each or at least one of the elevator transport units has more than one independent elevator axis 150X1-150Xn that is cooperatively connected and controlled to each other. Figure 5A As will be described herein, each independent elevator axis 150X1-150Xn of elevator transport unit 150CEL (also referred to herein as “unit” 150CEL) feeds a box individually from any asynchronous layer transport system 191 through the common output 300 of unit 150CEL, which generates an ordered sequence 171 of mixed boxes from common output 300 according to a predetermined mixed box output sequence. The output of unit 150CEL generates a predetermined box output sequence 172 of mixed boxes for the corresponding order loading station 160UT. In other respects, the outputs of more than one unit are superimposed or aggregated to generate a predetermined box output sequence 172 of mixed boxes for order loading station 160UT. Inbound transport section 500A may be similar to outbound transport section 500B, or may have any suitable number of independent elevator axes that may be coupled or decoupled relative to the inbound flow of boxes to storage structure 130.

[0035] An ordered sequence 171 of mixed boxes from more than one independent lift axis 150X1-150Xn of the lifting transport system 500 is decoupled from the feed sequence 173 of each asynchronous layer transport system 191, and the boxes are reordered along more than one independent lift axis 150X1-150Xn between the feed to more than one independent lift axis 150X1-150Nx and the output 300 of the more than one independent lift axis 150X1-150Xn, such that the ordered sequence of the output of box 171 has a superior sequence order relative to the predetermined box output sequence 172 of the mixed boxes, relative to the feed sequence 173 of the boxes at each layer 130L; and such that, in one aspect, the outgoing transport operation (outputting boxes via the multi-layer transport system 190 and the lifting transport system 500) is optimally distributed across layers 130L of the multi-layer transport system 190 (e.g., with the desired optimization strategy of one or more transactions).

[0036] Although aspects of the disclosed embodiments of the storage and retrieval system 100 are described herein, it should be understood that the aspects of the disclosed embodiments are equally applicable to any suitable material handling center(s), including but not limited to warehouses, distribution centers, cross-docking facilities, order fulfillment centers / facilities, packaging facilities, shipping facilities, or other suitable facilities or combinations thereof for performing one or more functions of material or inventory handling. According to aspects of the disclosed embodiments, the automated storage and retrieval system 100 may operate in a retail distribution center or warehouse to, for example, fulfill orders for carton units received from a retail store (for simplicity and ease of interpretation, the term "carton unit(s)" or the synonymous term "carton" is generally used herein to refer to both a single carton unit and a pickup surface, wherein the pickup surface is formed by multiple carton units moving as a unit), such as those described in U.S. Patent Application No. 13 / 326,674, filed December 15, 2011, the disclosure of which is incorporated herein by reference in its entirety. For example, a carton unit is a box or unit of goods (e.g., not containing goods) not stored in a pallet, on a tote, or on a pallet. In other examples, a box unit is a box or unit of goods contained in any suitable manner, such as in a pallet, on a transport box, or on a cargo tray. In still other examples, a box unit is a combination of items not included and items included. Note that box units include, for example, boxed cargo units (e.g., soup cans, cereal boxes, etc.), individual goods, products, packages, boxes, transport boxes, mail bags, buckets, and / or other types of containers adapted for removal from or placement on a cargo tray. According to aspects of the disclosed embodiments, shipping containers for box units (e.g., cardboard boxes, drums, boxes, crates, kettles, or any other suitable means for holding box units) may have variable dimensions and may be used to hold box units in shipment, and may be configured such that they can be stacked for shipment. Note that when packages or pallets, such as box units, arrive at the storage and retrieval system, the contents of each pallet can be identical (e.g., each pallet holds a predetermined number of the same items—one pallet holds soup and another holds cereal), and when the pallet leaves the storage and retrieval system, it can contain any suitable number and combination of different box units (e.g., mixed pallets, where each mixed pallet holds different types of box units—one pallet holds a combination of soup and cereal), these different box units are provided in a sorting arrangement, such as a palletizer, to form mixed pallets. In embodiments, the storage and retrieval system described herein can be applied to any environment in which box units are stored and retrieved.

[0037] Also refer to Figure 1DNote that when, for example, an incoming package or pallet (e.g., from the manufacturer or supplier of the box unit) arrives at the storage and retrieval system for replenishing the automated storage and retrieval system 100, the contents of each pallet can be identical (e.g., each pallet holds a predetermined quantity of the same items—one pallet holds soup and another holds cereal). As will be appreciated, the boxes loaded on such pallets can be substantially similar, or in other words, of the same type (e.g., similar size), and can have the same SKU (otherwise, as mentioned above, the pallet can be a multi-layered "rainbow" pallet formed by similar boxes). When the pallet PAL leaves the storage and retrieval system 100 (in the case of boxes filled with replenishment orders), the pallet PAL can contain any suitable number and combination of different box units CU (e.g., each pallet can hold different types of box units—one pallet holds a combination of filled soup, cereal, beverage packaging, cosmetics, and household cleaning products). The boxes combined into a single pallet can have different sizes and / or different SKUs. In one aspect of an exemplary embodiment, the storage and retrieval system 100 may be configured to typically include a feed section, a multi-level transport system 190, and an output and reordering section 199 (wherein, in one aspect, storage of items is optional), as will be described in more detail below. As will be appreciated, in one aspect of the disclosed embodiments, for example, the system 100 operating as a retail distribution center may be used to: receive boxes with a consistent pallet load, sort palletized goods or separate boxes from the consistent pallet load into individual box units to be handled separately by the system, retrieve the different boxes requested for each order and sort them into corresponding groups, and transport and assemble the corresponding box groups into a so-called mixed box pallet load (MPL). The feed section may typically be able to break down the consistent pallet load into individual boxes and transport these boxes via suitable transporters for input into the storage and reordering section 199. In other aspects, the output section at operator station 160EP assembles appropriate groups of ordered box units (which may differ in SKU, size, etc.) into bags, transport boxes, or other suitable containers (e.g., to fill customer orders) according to a predetermined sequence of the picked items.

[0038] If it can also be recognized, such as Figure 13As illustrated in the figures, in one aspect of the disclosed embodiments, for example, system 100 operating as a retail distribution center may be used to: receive boxes with a consistent pallet load, sort the pallet goods or separate the boxes from the consistent pallet load into individual box units to be handled separately by the system, retrieve the different boxes requested for each order and sort them into corresponding groups, and transport and sort the corresponding box groups at operator station 160EP (in the manner described herein), wherein items are picked from different box units CU, and / or the different box units CU themselves are placed in one or more bags, transport boxes or other suitable containers TOT by operator 1500 or any suitable automation (according to, for example, the order of fulfilling one or more customer orders, in a predetermined order sequence of the picked items), wherein the box units CU are sorted at operator station 160EP according to a predetermined order sequence, note that the sorting of box units CU as described herein achieves the sorting of box units CU at operator station 160EP.

[0039] refer to Figure 1A and Figure 5A The output and reordering section 199 includes at least one lifting transport system 500 having more than one independent lift axis 150X1-150Xn. Figure 5A )(See Figure 5A In one aspect, each lift axis is lift 150B, while in other aspects, each lift axis may be any suitable lifting device as described herein with respect to lift 150. These individual lift axes are coupled or decoupled to form a common feed interface 555 frame 777 (see Figure 7 For example, the feed interface 555 frame 777 is common to each lift axis 150X1-150Xn and connects the multi-level transport system 190 to one or more output stations 160UT via a common output 300. Each of the lift axes 150X1-150Xn is configured to independently hold at least one box unit and reciprocate along the vertical axis of the lift axis (i.e., the Z-axis or the lifting travel axis), thereby independently raising and lowering the at least one box unit (single or in groups, or in the pickup face) to provide mixed box lifting transport between more than one level 130L of the multi-level transport system 190, as will be described in more detail below.

[0040] In an exemplary embodiment, and with reference to Figure 1DThe output and reordering section 199 generates a pallet load MPL in a structured architecture that can be referred to as a hybrid container stack. The structured architecture of the pallet load described herein is representative, and in other respects, the pallet load MPL can have any other suitable configuration. For example, the structured architecture can be any suitable predetermined configuration, such as a truck bay load or other suitable container or load container encapsulation that maintains a structural load. The structured architecture of the pallet load MPL can be characterized as having several flat container layers L121-L125, L12T, at least one of which is formed by a non-intersecting, unsupported, and stable stacking of multiple hybrid containers. The hybrid container stacks of a given layer have substantially the same height to form substantially flat top and bottom surfaces of the given layer, as can be recognized, and are sufficient in number to cover the pallet area or a desired portion of the pallet area. One or more overlapping layers can be oriented such that the corresponding containers of the one or more layers bridge between the stacks of the supporting layers. Thus, the stack is stabilized, and correspondingly, the one or more mating layers of the pallet load are stabilized. When defining pallet loads as a structured layered architecture, the coupled 3-D pallet load solution is decomposed into two separately storeable parts: a vertical (1-D) part that breaks down the load into multiple layers, and a horizontal (2-D) part that efficiently distributes stacks of equal height to fill pallet heights in each layer. As will be described below, the output and reordering section 199 outputs box units, thus decomposing the two parts of the 3-D pallet load solution. The predetermined structure of the hybrid pallet load MPL defines the order of box units (whether these box units are individual box unit pick-up faces or combined box unit pick-up faces provided by the output and reordering section 199) to the load fabrication system (which can be loaded automatically or manually). As can be appreciated, separate portions of the predetermined structure of the hybrid pallet load MPL (e.g., separate layers, or portions of a layer) can each define the box units for the desired output ordered by the output and reordering section(s) 199.

[0041] Referring again to various aspects of the disclosed embodiments Figure 1AThe automated storage and retrieval system 100 includes: an input station 160IN (which includes a depalletizer 160PA and / or a conveyor 160CA for transporting items to a lift module 150A for entry into a storage unit) and an output station 160UT (which includes a palletizer 160PB, an operator station 160EP and / or a conveyor 160CB for transporting box units from a lift module 150B for removal from the storage unit), an input vertical lift module 150A and an output vertical lift module 150B (generally referred to as lift module 150—note that although the input lift module and the output lift module are shown, a single lift module can be used to both input box units and remove box units from the storage structure), a storage structure 130, and multiple autonomous rover / vehicles or transport vehicles 110 (referred to herein as "robots"). Note that the depalletizer 160PA can be configured to remove box units from the pallet, allowing the input station 160IN to transport items to the elevator module 150 for input into the storage structure 130. The palletizer 160PB can be configured to place items removed from the storage structure 130 onto the pallet PAL (…). Figure 1D (This is to facilitate shipment.)

[0042] The lift module 150 and the corresponding lift axis (whether entering or exiting) may be shown in the figure as a reciprocating lift; however, in other respects, the lift module 150 may be any suitable vertically configured item handling device(s), such as, for example, elevators (e.g., reciprocating lifts) 150A1, 150B1, escalators 150A2, 150B2, angled conveyor belts 150A3, 150B3, unmanned aerial vehicles (e.g., drones, quadcopters, multi-rotor helicopters, etc.) 150A4, 150B4 and / or cranes / gantry cranes 150A5, 150B5. As used herein, the lift module 150 (e.g., along the exit direction) may be referred to as lift transport system 500, which defines the output and reordering section 199. In one aspect, the output and reordering section 199 is configured to pick up one or more boxes from one or more transfer deck levels (each transfer deck level corresponding to a storage structure level 130L) and transport said one or more boxes to a load-filling section or unit (such as an output station 160UT) of the storage and retrieval system 100. The terms load-filling section or load-filling unit (used interchangeably herein and generally referred to as load-filling) refer to a pallet load-filling section / unit (such as for generating a mixed pallet load MPL) or as per [other relevant context]. Figure 14 The described itemized load-filling section / cell.

[0043] At least storage structures 130 (including one or more of pick-up channels 130A, storage spaces 130S, and transfer decks 130B for each different storage structure layer 130L) and robot 110 may be collectively referred to herein as multi-level transport system 190. Each layer 130L of multi-level transport system 190 has a corresponding asynchronous layer transport system 191 for mixing boxes (which includes, for example, robot 110, pick-up channels 130A, storage spaces 130S, and transfer decks 130B for the corresponding layer 130L), which is separate and different from the layer transport system 191 corresponding to each other layer 130L of multi-level transport system 190. Asynchronous layer transport system 190 defines an array of asynchronous layer transport axes X and Y corresponding to the corresponding layer 130L (see, for example...). Figure 2A and Figure 2B -as described below), and configured to maintain asynchronous transport of at least one box unit, thereby providing transport of mixed boxes along the array of layer transport axes X and Y, as described below.

[0044] Also refer to, for example Figure 1B , Figure 1C and Figure 3 Storage structure 130 may include multiple storage rack modules RM configured as a high-density three-dimensional rack array RMA, which are accessible from storage or deck layers 130L. As used herein, the term "high-density three-dimensional rack array" refers to a storage array in which the total number of deck layers is less than the total number of rack layers, wherein, for example, the three-dimensional rack array RMA has nondeterministic open shelves distributed along pick-up aisles 130A, wherein multiple stacked shelves 1210 are accessible from a common pick-up aisle travel surface or pick-up aisle layer (e.g., box units are placed at each pick-up aisle layer within dynamically allocated storage space such that vertical space / gap VG and horizontal space / gap G between box units are minimized at each pick-up aisle layer, as described, for example, in U.S. Patent No. 9,856,083, granted January 2, 2018, the disclosure of which is incorporated herein by reference in its entirety).

[0045] For example Figure 1A , Figure 1B , Figure 1C and Figure 3Each storage layer 130L includes a pick-up surface storage / handoff space 130S (referred to herein as storage space 130S) formed by rack modules RM. In one aspect, the storage space 130S formed by the rack modules includes shelves arranged along a storage or pick-up aisle 130A (which connects to transfer deck 130B), these shelves extending linearly through the rack module array RMA, for example, and providing robot 110 access to the storage space 130S and(one or more) transfer decks 130B. In other aspects, the storage space 130S formed by the rack modules may include slots, seats, compartments, cribs, cordoned areas, hooks, shelves, or other suitable locations having a configuration that allows robots to pick up box units from and place box units into the storage space. In one aspect, the shelves of the rack modules RM are arranged as multi-layer shelves distributed along the pick-up aisle 130A. As can be appreciated, robot 110 travels along pick-up channel 130A and transfer deck 130B on the respective storage layer 130L for transferring box units between any storage space 130S of storage structure 130 (e.g., on the layer where robot 110 is located) and any elevator module 150 (e.g., each robot 110 has access to each storage space 130S on the respective layer and each elevator module 150 on the respective storage layer 130L). Transfer decks 130B are arranged at different levels (corresponding to each level 130L of the storage and retrieval system), and these transfer decks may be stacked vertically or horizontally offset from each other, such that one transfer deck 130B is located at one end or side RMAE1 of the storage rack array RMA or at several ends or sides RMAE1, RMAE2 of the storage rack array RMA, as described, for example, in U.S. Patent Application No. 13 / 326,674, filed December 15, 2011, the disclosure of which is incorporated herein by reference in its entirety. In other aspects, the storage structure may not have transfer decks on one or more of the levels 130L, wherein the pick-up aisles may extend such that robot 110 can access one or more lifts located on the side of the pick-up aisles in a manner similar to that described, for example, in U.S. Patent No. 8,974,168, granted March 10, 2015, the disclosure of which is incorporated herein by reference in its entirety.

[0046] In one aspect of the disclosed embodiment, the transfer deck 130B is substantially open and configured for the robot 110 to travel along multiple travel lanes (e.g., along lanes relative to each other). Figure 2A and Figure 2BThe robot 110 traverses nondeterministically across and along the transfer deck 130B in the robot's reference coordinate system REF (non-synchronous X-axis transport). As can be appreciated, one or more transfer decks 130B at each storage layer 130L communicate with each pick-up channel 130A on the corresponding storage layer 130L. The robot 110 traverses bidirectionally between the transfer decks 130B and the pick-up channel 130A on each corresponding storage layer 130L, so as to traverse along the pick-up channel (e.g., along relative to...). Figure 2A and Figure 2B The robot 110, as illustrated in the diagram, travels along the asynchronous X-axis of the reference coordinate system REF and accesses storage spaces 130S located in the shelf adjacent to each pick-up aisle 130A (e.g., the robot 110 can travel along the asynchronous Y-axis (relative to the X-axis)). Figure 2A and Figure 2B The robot reference coordinate system (REF) shown in the diagram accesses storage spaces 130S distributed on both sides of each channel, allowing the robot 110 to have different orientations when traversing each pickup channel 130A. For example, the reference coordinate system (REF) allows the robot 110 to access storage spaces 130S distributed on both sides of each channel. Figure 2A and Figure 2B The drive wheels 202 either move in the direction of travel or move away from the direction of travel. As can be appreciated, the throughput of the storage array exiting from the horizontal plane corresponding to the predetermined storage or deck level 130L is achieved and manifested by a combination or integrated throughput along both the asynchronous X-axis and the asynchronous Y-axis. As described above, the transfer deck(s) 130B also provides access by the robot 110 to each elevator 150 on the respective storage level 130L, wherein the elevator 150 feeds container units to each storage level 130L and / or removes container units from each storage level 130L (e.g., along the Z-axis throughput, see example). Figure 2A , Figure 2B , Figure 3 , Figure 4A and Figure 4B ), and the robot 110 realizes the transfer of box units between the elevator 150 and the storage space 130S.

[0047] In other aspects of the disclosed embodiments, the transfer deck 130B can be deterministic in a manner substantially similar to that of a pickup channel. For example, the transfer deck 130B may include any suitable number of guiding features 130BS1, 130BS2, such as rails, guides, tracks, etc., which form one or more travel paths HSTP1, HSTP2 for the robot 110 and provide access to the elevator 150 across and along the transfer deck 130B (e.g., along relative to...). Figure 2A and Figure 2BThe non-synchronous X-axis transport of the robot in the reference coordinate system REF is illustrated in the figure. The deterministic travel paths HSTP1, HSTP2 of the transfer deck 130B can be arranged laterally to the pick-up channel 130A of the corresponding layer 130L. The robot 110 can be suitably configured in any suitable manner along the guide rails 1200S of the deterministic pick-up channel 130A (e.g., along the rails relative to the guide rails 1200S of the deterministic pick-up channel 130A). Figure 2A and Figure 2B The robot reference coordinate system (REF) shown in the figure transitions between the asynchronous Y-axis of the robot and the deterministic travel paths HSTP1, HSTP2. For example, robot 110 may include multiple sets of substantially orthogonal wheels, as described in, for example, U.S. Patent No. 5,370,492, issued December 6, 1994, and / or U.S. Patent No. 6,389,981, issued May 21, 2002, the disclosure of which is incorporated herein by reference in its entirety. In other aspects, robot 110 may include separable traversing units(s) that roll up and down on the robot's main frame. For example, the robot's main frame traverses one of a deterministic pick-up channel 130A and one or more deterministic travel paths HSTP1, HSTP2 (e.g., along one of an asynchronous X-axis and an asynchronous Y-axis) of the transfer deck 130B, and separable units traverse the other of the deterministic pick-up channel 130A and one or more deterministic travel paths HSTP1, HSTP2 (e.g., along one of an asynchronous X-axis and an asynchronous Y-axis) of the transfer deck 130B. Suitable examples of autonomous transport with a main frame and separable traversing units can be found, for example, in U.S. Patent Application No. 4,459,078, granted July 10, 1984, the disclosure of which is incorporated herein by reference in its entirety.

[0048] As described above, also refer to Figure 3 In one aspect, the storage structure 130 includes a plurality of storage rack modules RM configured in a three-dimensional array RMA, wherein the racks are arranged in aisles 130A, and aisles 130A are configured to allow robot 110 to travel within aisles 130A. In this aspect, transfer deck 130B has a nondeterministic transport surface on which robot 110 travels, wherein the nondeterministic transport surface 130BS has more than one juxtaposed travel lane (e.g., high-speed robot travel path HSTP) connecting aisles 130A (in other aspects, each high-speed robot travel path may be deterministic, as described above). As can be appreciated, the juxtaposed travel lanes share a common nondeterminism (or as described above) between opposite sides 130BD1, 130BD2 of transfer deck 130B. Figure 3A As shown, the deterministic transport surface 130BS is juxtaposed. Figure 3As illustrated, in one aspect, aisle 130A is connected to transfer deck 130B on one side 130BD2 of transfer deck 130B; however, in other aspects, the aisle is connected to more than one side 130BD1, 130BD2 of transfer deck 130B in a manner substantially similar to that described in U.S. Patent Application No. 13 / 326,674, filed December 15, 2011 (the disclosure of which is previously incorporated herein by reference in its entirety). As will be described in more detail below, the other side 130BD1 of transfer deck 130B includes deck storage racks (e.g., docking stations TS and buffer stations BS) distributed along the other side 130BD1 of transfer deck 130B such that at least a portion of the transfer deck is inserted between the deck storage racks (such as, for example, buffer stations BS or transfer stations TS) and aisle 130A. The deck storage rack is arranged along the other side 130BD1 of the transfer deck 130B, such that the deck storage rack is in communication with the robot 110 from the transfer deck 130B and with the elevator module 150 (e.g., the deck storage rack is accessed by the robot 110 from the transfer deck 130B and by the elevator 150 for picking up and placing pick-up surfaces, so that pick-up surfaces are transferred between the robot 110 and the deck storage rack, and between the deck storage rack and the elevator 150, and thus between the robot 110 and the elevator 150).

[0049] Refer again Figure 1A Each storage layer 130L may also include a charging station 130C for charging the onboard power supply of the robot 110 on the storage layer 130L, as described, for example, in U.S. Patent No. 9,082,112, granted on July 14, 2015, the disclosure of which is incorporated herein by reference in its entirety.

[0050] Robot 110 can be any suitable, independently operable autonomous transport vehicle that carries and transfers box units throughout the storage and retrieval system 100 along asynchronous X-axis and asynchronous Y-axis transport. In one aspect, robot 110 is an automated, independent (e.g., free-moving) autonomous transport vehicle. Suitable examples of robots may be found in: U.S. Patent Application No. 13 / 326,674, filed December 15, 2011; U.S. Patent No. 8,425,173, granted April 23, 2013; U.S. Patent No. 9,561,905, granted February 7, 2017; U.S. Patent No. 8,965,619, granted February 24, 2015; and U.S. Patent No. 8,696,010, granted April 15, 2014. The disclosures of U.S. Patent No. 9,187,244, issued November 17, 2015; U.S. Patent Application No. 13 / 326,952, filed December 15, 2011; U.S. Patent No. 9,499,338, filed November 22, 2016; U.S. Patent Application No. 14 / 486,008, filed September 15, 2014; and U.S. Patent No. 9,850,079, issued December 26, 2017, are all incorporated herein by reference in their entirety. Other suitable examples of robots (e.g., for use on a deterministic transfer deck) can be found in U.S. Patent No. 4,459,078, issued July 10, 1984; U.S. Patent No. 5,370,492, issued December 6, 1994; and U.S. Patent No. 8,974,168, issued March 10, 2015, the disclosures of which are incorporated herein by reference in their entirety. Robot 110 (described in more detail below) may be configured to place box units (such as retail goods described above) into pick-up inventory in one or more layers of storage structure 130, and selectively retrieve ordered box units. As can be appreciated, in one aspect, the array of asynchronous transport axes X and Y (e.g., pick-up face / box transport axes) of the storage array is defined by pick-up channel 130A, at least one transfer deck 130B, robot 110, and an extendable end effector of robot 110 (as described herein) (and in other aspects, an extendable end effector of elevator 150 also at least partially defines the asynchronous Y transport axis). Pick-up face / box units are transported between the inbound section of storage and retrieval system 100 (where pick-up faces are generated to the array) (such as, for example, input station 160IN) and the load-filling section of storage and retrieval system 100 (such as, for example, output station 160UT), where pick-up faces exiting the array are arranged to load loads according to a predetermined load-filling sequence of the mixed boxes.

[0051] As will be described herein, the transport of (one or more) mixed boxes / pickup surfaces is consistent with the transport on at least one of the arrays of asynchronous transport axes X and Y of the layers (or in other respects, at least one of each of more than one of the arrays), and is based on the transport to the lifting transport system 500. Figure 1A The feed sequence 173 (and Figure 5) Figure 1A The feed sequence can be based on one or more transactions of the corresponding asynchronous layer transport system 191, the desired optimal transaction / action (e.g., pick-up faces and / or traverses along one or more asynchronous layer transport axes X and Y), the distribution of (one or more) box units within the storage structure 130 (e.g., on each storage layer 130L, one or more desired layers, and / or desired portions of one or more storage layers 130L), the availability of the robot 110, and / or the availability of the elevator 150, and any suitable optimization strategy. One or more different (or common) optimization strategies can be applied to the transactions / actions of one or more asynchronous layer transport systems 191 (or portions of one or more asynchronous layer transport systems 191) by, for example, a control server 120. One or more optimization strategies include, but are not limited to, time-optimal strategies that facilitate minimum time from the pick-up aisle shelf to the elevator feed and / or load balancing across one or more layers (or sections of one or more layers), such that for a given transaction (e.g., robot pick-up / placement per hour), the transaction rate distribution at desired segments of one or more layers (or sections of one or more layers) is substantially constant, and approaches high throughput (e.g., over 1000 transactions per hour for 40 robots per layer) at one or more layers (or sections of one or more layers). Furthermore, different optimization strategies may be applied along or in combination with those applied at different layers 130L or within one or more sections of the common layer 130L.

[0052] The feed sequence 173, relative to the predetermined bin output ordered sequence 172 of the mixing bin, forms the inferior ordered sequence 170 of the mixing bin. Figure 1A - For example, the lower-level ordering in the sequence order). As will also be described below, the reordering of the mixing box pick-up faces (consistent with the transport and output of the mixing boxes / pick-up faces via the lifting transport system 500) is decoupled from the transport of (one or more) mixing boxes / pick-up faces via the array of layer asynchronous transport axes X and Y, and wherein the ordered sequence 171 of the mixing boxes relative to the predetermined box output ordered sequence 172 of the mixing boxes (and the lower-level ordered sequence 170 of the mixing boxes provided by the array of layer asynchronous transport axes X and Y) forms the superior ordered sequence 171S of the mixing boxes. Figure 1A- For example, the parent order in a sequence.

[0053] The robot 110, elevator module 150, and other suitable features of the storage and retrieval system 100 are controlled in any suitable manner, such as by one or more central system control computers or computing environments (e.g., referred to as "control servers") 120 via any suitable network 180. The control server 120 can be any suitable computing environment, including server computers or any other system providing computing power. In other aspects, the control server 120 may employ multiple computing devices, which may be arranged, for example, in one or more server libraries or computer libraries or other arrangements. Such computing devices may reside in a single installation or be distributed across one or more geographical locations. For example, the control server 120 may include multiple computing devices that together form hosted computing resources, grid computing resources, and / or any other distributed computing arrangement. In some aspects, the control server 120 forms a resilient computing resource, where the allocated processing, networking, and storage capacity (or other computing resources) may change over time. In one aspect, network 180 is a wired network, a wireless network, or a combination of wired and wireless networks using any suitable type and / or number of communication protocols. Examples of network 180 include, but are not limited to, the Internet, intranet, extranet, wide area network (WAN), local area network (LAN), satellite network, cable network, Ethernet network, or any other suitable network. Configuration

[0054] In one aspect, the control server 120 includes a series of substantially concurrently running programs (e.g., system management software) for substantially automated control of the automated storage and retrieval system 100. For example, for illustrative purposes only, this series of substantially concurrently running programs configured to manage the storage and retrieval system 100 includes: controlling, planning, and monitoring the activities of all active system components; managing inventory (e.g., which boxes are entered and removed, the order in which boxes are removed, and where boxes are stored) and pick-up surfaces (e.g., one or more boxes that can be moved as a unit and handled as a unit by components of the storage and retrieval system); and interfacing with the warehouse management system 2500. In one aspect, the control server 120 may include or be communicatively coupled to a plurality of component controllers 120S1-120Sn that receive commands from the control server 120 for managing the operation of one or more components of the automated storage and retrieval system 100.

[0055] In one aspect, control server 120 and / or component controllers 120S1-120Sn can be configured to control features of the storage and retrieval system in a manner described herein. For example, one or more of component controllers 120S1-120Sn may be responsible for assigning tasks to one or more of the respective independent elevator shafts 150X1-150Xn (based on commands received, for example, from control server 120), such that each elevator shaft 150X1-150Xn outputs a mixing box unit individually or jointly at a common output of elevator shafts 150X1-150Xn, wherein the output box unit has a superior ordered sequence 171S of the mixing box according to a predetermined superior box output ordered sequence as described herein. One or more other component controllers 120S1-120Sn may be responsible for assigning tasks to the corresponding layer 130L of the asynchronous layer transport system 191 for controlling the corresponding asynchronous transport axes X and Y of the layer, thereby providing the lower ordered sequence 170 of the mixed box to be supplied to one or more independent lift axes (150X1-150Xn), as described herein.

[0056] Here, the superior ordered sequence 171S of the mixed containers is achieved by controlling each elevator axis 150X1-150Xn through one or more of the control server 120 and the corresponding component controllers 120S1-120Sn. In one aspect, the control server 120 may include one or more models 125 and / or components of the storage and retrieval system 100 (e.g., elevator axes 150X1-150Xn, one or more asynchronous layer transport systems 191, etc.), wherein the one or more models 125 model the performance aspects and constraints of the storage and retrieval system components described herein. The one or more models may at least partially determine the transport trajectory of the container units implemented by one or more of the component controllers 120S1-120Sn throughout the storage and retrieval system, such that the superior ordered sequence 171S of the mixed containers is output at a common output of the elevator axes 150X1-150Xn. The one or more models 125 may be updated, for example, via sensing and actuation data from component controllers 120S1-120Sn on a substantially real-time basis, thereby enabling the determination of an optimal container unit transportation solution “in flight” or in motion (e.g., taking into account receding planning horizon, layer closure, autonomous vehicle failure, elevator module closure, storage pick-up failure, storage place / placement failure, or any other disturbance that will disrupt or otherwise affect the operation of the storage and retrieval system) for generating a superior ordered sequence 171S of mixed containers over a predetermined time period.

[0057] Referring also to 1B, the shelving module array RMA of storage structure 130 includes vertical support members 1212 and horizontal support members / rails 1200 defining a high-density automated storage array, as described herein. Rails 1200S may be mounted in, for example, a pick-up channel 130A to one or more of the vertical support members 1212 and horizontal support members 1200, and are configured such that a robot 110 travels along rails 1200S through the pick-up channel 130A. At least one side of at least one of the pick-up channels 130A of at least one storage layer 130L may have one or more storage shelves (e.g., formed by rails 1210, 1200 and slats 1210S or other suitable box supports), said one or more storage shelves being arranged at different heights to form a plurality of shelf layers 130LS1-130LS4 between the storage and deck layers 130L defined by the transfer deck 130B (and the guides 1200S forming the channel deck). Therefore, there are multiple rack shelves 130LS1-130LS4 corresponding to each storage layer 130L, which extend along one or more pick-up channels 130A communicating with the transfer deck 130B of the respective storage layer 130L. As can be appreciated, the multiple rack shelves 130LS1-130LS4 realize the stacking of stored box units (or box layers) of each storage layer 130L that are accessible from the common deck of the respective storage layer 130L (e.g., formed by guide rails 1200S) (e.g., stacks of stored boxes are located between storage layers).

[0058] As can be appreciated, the robot 110 traversing the pick-up aisle 130A has access at the corresponding storage layer 130L (e.g., for picking up and placing box units) to each storage space 130S available on each shelf layer 130LS1-130LS4, wherein each shelf layer 130LS1-130LS4 is located on one or more sides of the pick-up aisle 130A, PAS1, PAS2 (see, for example) Figure 3 Between adjacent vertically stacked storage layers 130L on the [structure / structure]. As described above, the robot 110 can access each storage shelf layer 130LS1-130LS4 from guide rails 1200S (e.g., from a common pick-up channel deck formed by guide rails 1200S, which corresponds to a transfer deck 130B on the respective storage layer 130L). [The text abruptly ends here, seemingly mid-sentence.] Figure 1B As seen, there are one or more intermediate shelf rails 1210, which are vertically spaced from each other (and from the rails 1200S) (e.g., along the Z direction) to form multiple stacked storage spaces 130S, on which the robot 110 can access each stacked storage space from the common rails 1200S. As can be appreciated, the horizontal support members 1200 also form shelf rails on which box units are placed (in addition to the shelf rails 1210).

[0059] Each stacked shelf layer 130LS1-130LS4 corresponding to storage layer 130L (and / or each individual shelf layer as described below) defines an open and nondeterministic two-dimensional storage surface (e.g., having a surface with a surface like a stacked shelf layer 130LS1-130LS4). Figure 1B The box unit support plane (CUSP) shown facilitates both longitudinal (e.g., along the length of the aisle or aligned with the robot travel path defined by the pick-up aisle) and lateral (e.g., transverse to the aisle or robot travel path relative to the shelf depth) dynamic allocation of the pick-up surface. For example, the dynamic allocation of the pick-up surface and the box units constituting the pick-up surface is provided in a manner described in U.S. Patent No. 8,594,835, issued November 26, 2013, the disclosure of which is incorporated herein by reference in its entirety. For example, a controller (such as a control server 120) monitors the box units stored on the shelf and the empty spaces or storage locations between the box units. For illustrative purposes only, empty storage locations are dynamically allocated such that a box of a first size is replaced by three boxes of a second size, which, when combined, fit into the space previously reserved for the box of the first size, or vice versa. As container units are placed on and removed from storage shelves, dynamic allocation essentially and continuously resizes empty storage locations (e.g., storage locations on storage shelves that do not have predetermined dimensions and / or positions). Thus, the pick-up faces of variable-length and wide container units (or transport containers) are positioned at each two-dimensional storage location on the storage shelf (e.g., on each storage shelf layer 130LS1-130LS4), where adjacent storage container units / storage spaces have a minimum gap G (e.g., this minimum gap G ensures that the picking / placing of container units does not contact other container units stored on the shelf, see...). Figure 1B ).

[0060] As described above, the spacing between rails 1200, 1210 (e.g., storage shelves) is variable to minimize the vertical clearance VG between vertically stacked box units (e.g., providing only sufficient clearance for inserting and removing box units from their respective storage locations). This will be described below (e.g., relative to, for example...) Figure 1B and Figure 3 In one aspect, the vertical spacing between guide rails 1200 and 1210 varies along the length of the corresponding pickup channel 130A, while in other aspects, the spacing between guide rails or horizontal support members 1200 and 1210 may be substantially continuous along the pickup channel 130A. As can be appreciated and will be described in more detail below, on one side of the pickup channel 130A, PAS1 ( Figure 3 The spacing between the upper guide rails 1200 and 1210 can be adjusted to the opposite side of PAS2 in the same pickup channel 130A. Figure 3 The spacing between the upper rails 1200 and 1210 is different. As can be appreciated, any suitable number of shelves 1210 can be arranged between the decks / rails 1200S of adjacent vertically stacked storage layers 130L, wherein the shelves have the same or different spacing between the shelves (e.g., several box units are located in a vertical stack on one side of the pick-up channel, and several box units are located in a vertical stack on the opposite side of the pick-up channel on storage shelves with substantially similar or different spacing).

[0061] In one aspect of the disclosed embodiments, reference is made to Figure 1B The vertical spacing between shelf layers 130LS1-130LS4 (corresponding to each storage layer 130L) is varied, such that the heights Z1A-Z1E between the shelves are different rather than equal, for example, to minimize the vertical gap VG between the upper or top surface CUTS of the box unit CU and the bottom of the storage shelf located directly above the box unit (e.g., formed by guide rails 1200, 1210). This can be achieved by... Figure 1B As seen in the diagram, minimizing the gaps G and VG along both the horizontal and vertical directions results in a dense arrangement of box units within the storage shelving to form a high-density three-dimensional shelving array (RMA). This, for example, increases throughput along the X-axis and enables ordered / sorted (e.g., according to a predetermined load output sequence) multiple picks of two or more box units from a common pick channel during a single common pass, as described below. For example, still referring to... Figure 1BOne section SECB of storage layer 130L includes two storage shelves (e.g., formed by rails 1200, 1210), one shelf having a spacing of Z1A and the other shelf having a spacing of Z1B, wherein Z1A and Z1B are different from each other. This different spacing allows box units CUD, CUE of different heights to be placed in a stack above and below each other on the common storage layer 130L. In other aspects, the spacings Z1A and Z1B may be substantially the same. In this aspect, storage layer 130L includes another storage section SECA with three storage shelves, one shelf having a spacing of Z1E, one storage shelf having a spacing of Z1D, and another storage shelf having a spacing of Z1C, wherein Z1E, Z1D, and Z1C are different from each other. In other aspects, at least two of the spacings Z1E, Z1D, and Z1C are substantially the same. In one aspect, the spacing between the shelves is arranged such that larger and / or heavier container units CUC, CUE are positioned closer to the deck / rail 1200S compared to smaller and / or lighter container units CUD, CUA, CUB. In other aspects, the spacing between the shelves is arranged such that the container units are positioned in any suitable location that may or may not be related to the size and weight of the container units.

[0062] In other respects, the vertical spacing between at least some shelf units is the same, such that the heights Z1A-Z1E between at least some shelves are equal, while the vertical spacing between other shelves is different. In still other respects, the spacing between shelf units 130LS1-130LS4 on one storage level is a constant spacing (e.g., the shelf units are spaced substantially equidistant along the Z direction), while the spacing between shelf units 130LS1-130LS4 on different storage levels is a different constant spacing.

[0063] In one aspect, storage spaces 130S (one or more) defined by storage shelving layers 130LS1-130LS4 between storage or deck layers 130L accommodate box units of different heights, lengths, widths, and / or weights at different shelving layers 130LS1-130LS4, as described in, for example, U.S. Patent No. 9,884,719, issued February 6, 2018, the disclosure of which is incorporated herein by reference in its entirety. For example, still referring to Figure 1BStorage layer 130L includes storage sections having at least one intermediate shelf 1210. In the example shown, one storage section includes one intermediate shelf / rail 1210, while another storage section includes two intermediate shelves / rails 1210 for forming shelf layers 130LS1-130LS4. In one aspect, the spacing Z1 between storage layers 130L can be any suitable spacing, such as, for example, about 32 inches to about 34 inches, while in other aspects, the spacing can be greater than about 34 inches and / or less than about 32 inches. Any suitable number of shelves can be provided between the decks / rails 1200S of adjacent vertically stacked storage layers 130L, wherein these shelves have the same or different spacing between the shelves.

[0064] In one aspect of the disclosed embodiments, the storage or deck layer 130L (e.g., the surface on which the robot 110 travels) is arranged at any suitable predetermined spacing Z1, which is, for example, not an integer multiple of the intermediate shelf spacings Z1A-Z1E. In other aspects, the spacing Z1 can be an integer multiple of the intermediate shelf spacings, such as, for example, the shelf spacing can be substantially equal to the spacing Z1, such that the corresponding storage space has a height substantially equal to the spacing Z1. As can be appreciated, the shelf spacings Z1A-Z1E are substantially decoupled from the storage layer 130L spacing Z1 and correspond to a general box unit height, such as... Figure 1B As illustrated in the figure. In one aspect of the disclosed embodiment, box units of different heights are dynamically allocated or otherwise distributed along each aisle within a storage space 130S having a shelf height commensurate with the height of the box units. The remaining space between storage layers 130L is along the length of the aisle corresponding to the stored box units (e.g., along the aisle relative to the shelf reference coordinate system REF2 (see, for example)). Figure 3 The X direction of the robot's reference coordinate system REF (see example) Figure 2ASimilar to Figure 2b) where the robot travels through the pick-up aisle 130A, boxes of corresponding heights can be freely allocated next to the stored box units. As can be appreciated, box units of different heights are dynamically allocated to shelves with different spacing, providing storage box layers of different heights between storage layers 130L on both sides of each pick-up aisle 130A, wherein each box unit is dynamically distributed along the common pick-up aisle 130A, allowing the robot to individually access (e.g., for picking / placing) each box unit within each storage box layer in the common aisle. This high-density placement / allocation of box units and the arrangement of storage shelves provide maximum efficiency of storage space / volume utilization between storage layers 130L, and thus provide maximum efficiency of the shelf module array RMA, with optimized distribution of box unit SKUs, because each aisle length can include multiple box units of different heights, and each shelf at each shelf layer can be filled by dynamic allocation / distribution (e.g., filling the three-dimensional shelf module array RMA space in length, width, and height to provide a high-density storage array).

[0065] In one aspect, reference Figure 1C and Figure 2B Each storage layer 130L includes a single-layer storage shelf for storing single-layer box units (e.g., each storage layer includes a single box unit support plane CUSP), and the robot 110 is configured to transfer box units to and from the storage shelves of the corresponding storage layer 130L. For example, Figure 2B The robot 110' illustrated herein is substantially similar to the robot 110 described herein; however, robot 110' is not provided for placing the box units on the multiple storage shelf layers 130LS1-130LS4 (e.g., accessible from a common rail 1200S, as in, for example...). Figure 1B Sufficient Z-stroke of the transfer arm 110PA (shown in the diagram), as described above. Here, the transfer arm actuator 250 (which may be substantially similar to one or more of actuators 250A, 250B) includes only sufficient Z-stroke for lifting box units from the box unit support plane CUSP of a single-layer storage shelf, for transferring box units to and from the payload area 110PL, and for transferring box units between the fingers 273 of the transfer arm 110PA and the payload bed 110PB. A suitable example of robot 110' can be found, for example, in U.S. Patent No. 9,499,338, issued November 22, 2016, the disclosure of which is incorporated herein by reference in its entirety.

[0066] In one aspect of the disclosed embodiments, reference is also made to Figure 3Shelf 1210 (including shelf units formed by guide rails 1200) is longitudinally divided into segments SECA and SECB (e.g., along the length of the pick-up aisle 130A in the X direction, relative to the storage structure frame of reference coordinate system REF2) to form ordered or otherwise matched shelf units along each pick-up aisle 130A. The aisle shelf segments SECA and SECB are ordered / matched to each other based on, for example, the pick-up sequence of robot 110, which traverses the aisle in a common pass to pick up box units assigned to a common order (e.g., based on an order output sequence). In other words, robot 110 passes down a single or common pick-up aisle in a single pass (e.g., traverses in a single direction) while picking up one or more box units from the aisle shelf segments SECA and SECB on the common side of pick-up aisle 130A to construct a pick-up surface on robot 110, wherein the pick-up surface includes, for example, a feed sequence 173 to the lifting transport system 500. Figure 1A The box units are arranged on the robot. Each aisle rack section SECA, SECB includes intermediate shelves in the manner described above. In other respects, some aisle shelves do not include intermediate shelves, while others do.

[0067] In one aspect, the ordered aisle rack sections SECA and SECB include different shelf spacings between sections SECA and SECB. For example, aisle rack section SECA has shelves with one or more spacings, while aisle rack section SECB has shelves with one or more different spacings (e.g., different from the shelf spacing in section SECA). According to aspects of the disclosed embodiments, the spacing of at least one intermediate shelf in one aisle rack section SECA or SECB is related to the spacing of at least one intermediate shelf in the other ordered aisle rack section SECA or SECB of the common pick aisle 130A. The different spacings of the intermediate shelves / rails 1210 in the ordered aisle rack sections SECA and SECB are selected so that they are related and so that multiple (at least two) ordered picks (i.e., picks in an ordered sequence) can be performed from the shelves with different spacings in the common pass of the common pick aisle 130A using robot 110 according to a mixed SKU load output sequence (e.g., palletizing to a common pallet load). As can be appreciated, mixed loads output from storage and retrieval system 100 (e.g., loads to fill truck load ports / pallets) are ordered in a predetermined order according to various load output pick channels (e.g., pick-up bin units to transfer to outgoing pallets), and the shelving spacing in ordered sections SECA, SECB facilitates robot 110 to pick up more than one bin unit in an ordered sequence according to the order of the load output sequence during passage through the common pick channel (e.g., picking up more than one bin unit from the common pick channel in a predetermined order during a single pass through the common pick channel). The different aisle shelf spacings of the ordered shelving sections SECA and SECB are therefore related to increase the possibility of performing multiple picks in an ordered manner (as described above, picking two or more box units from a single aisle in a single pass) by each robot order fulfillment pass along each aisle, and are therefore related to the fact that most of the boxes picked up by robot 110 in storage and retrieval system 100 and transported to a common load output (e.g., a common pallet load) are picked up by common robot 110 according to the feed sequence 173 to lift transport system 500 (e.g., two or more boxes picked up by robot 110 are picked up from the same pick aisle in a single pass, e.g., the robot travels through the pick aisle once in a single direction). As can be appreciated, in one aspect of the disclosed embodiment, the two sides PAS1 and PAS2 of pick aisle 130A have ordered aisle shelving sections SECA and SECB, one of which can be matched with one or more sections on the same side PAS1 and PAS2 of common pick aisle 130A. As can be recognized, matching aisle shelf sections may be positioned adjacent to each other or spaced apart from each other along pick-up aisle 130A.

[0068] Refer again Figure 3 Each transfer deck or storage level 130L includes one or more elevator pickup face docking / transfer stations TS (referred to herein as docking stations TS), wherein (one or more) box units or transport boxes (single or combined box pickup faces) are transferred between the elevator load handling unit LHD and the robot 110 on the transfer deck 130B. The docking stations TS are located on the side of the transfer deck 130B opposite to the pickup aisle 130A and the racking module RM, such that the transfer deck 130B is inserted between the pickup aisle and each docking station TS. As described above, each robot 110 on each pickup level 130L has access to each storage location 130S, each pickup aisle 130A, and each elevator 150 on the corresponding storage level 130L; therefore, each robot 110 also has access to each docking station TS on the corresponding level 130L. In one aspect, the docking station is offset along the transfer deck 130B from the high-speed robot travel path HSTP, such that robot 110's access to docking station TS is nondeterministic with respect to the robot speed on the high-speed travel path HSTP. Thus, each robot 110 can move (one or more) box units (or pickup surfaces constructed by the robot, e.g., one or more boxes) from each docking station TS to each storage space 130S corresponding to the deck layer, and vice versa.

[0069] In one aspect, the docking station TS is configured for the passive transfer (e.g., handover) of box units (and / or pick-up surfaces) between the robot 110 and the load handling unit LHD of the elevator 150 (e.g., the docking station TS does not have moving parts for transporting box units), which will be described in more detail below. Reference also includes, for example, to... Figure 6BThe docking station TS and / or buffer station BS includes one or more stacked layers TL1, TL2 of the transfer rack shelf RTS (e.g., to utilize the lifting capability of the robot 110 relative to the stacked rack shelf RTS). In one aspect, the transfer rack shelf is substantially similar to the storage shelf described above (e.g., each formed by rails 1210, 1200 and slats 1210S or other suitable box unit support structure), such that robot 110 transfer (e.g., pick-up and place) occurs in a passive manner substantially similar to the passive manner between the robot 110 and the storage space 130S (as described herein), wherein box units or transport boxes are transferred to and removed from the shelf. In one aspect, the buffer station BS on one or more of the stacked layers TL1, TL2 also serves as a transfer / docking station for the load handling device LHD relative to the elevator 150. In one aspect, where a robot (such as robot 110') is configured to transfer box units to a single layer 130L of storage shelving, the docking station TS and / or buffer station BS also include a single-layer transfer rack (which is substantially similar to the one described above for example) Figure 1C The storage rack shelf of the described storage layer 130L. As will be appreciated, the operation of the storage and retrieval system (whereby robot 110' serves on single-layer storage and transfer shelves) is substantially similar to the operation described herein. As will also be appreciated, the load handling unit LHD transfers (e.g., individual box units or pick-up surfaces) and transport boxes to stacked rack shelves RTS (and / or single-layer rack shelves) in a passive manner substantially similar to the passive manner between robot 110 and storage space 130S (as described herein), wherein box units or transport boxes are transferred to and from shelves. In other aspects, the shelf may include transfer arms (substantially similar to...) Figure 2A and / or Figure 2B The robot 110 shown has a transfer arm 110PA (though Z-direction movement may be omitted when the transfer arm is incorporated into the docking station TS shelf) for picking up and placing box units or transport boxes from one or more of the load handling units LHD of the robot 110 and the elevator 150. For example, a suitable example of a docking station with an active transfer arm is described in U.S. Patent No. 9,694,975, issued July 4, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0070] In one aspect, the position of robot 110 relative to docking station TS is substantially similar to the robot's position relative to storage space 130S. For example, in one aspect, the position of robot 110 relative to storage space 130S and docking station TS is substantially similar to that described in the following documents: U.S. Patent No. 9,008,884, issued April 14, 2015, and U.S. Patent No. 8,954,188, issued February 10, 2015, the disclosures of which are incorporated herein by reference in their entirety. For example, see reference to Figure 1A and Figure 1C The robot 110 includes one or more sensors 110S that detect slats 1210S or positioning features 130F (such as orifices, reflective surfaces, RFID tags, etc.) mounted on / in a guide rail 1200. The slats 1210S and / or positioning features 130F are arranged to identify the position of the robot 110 within the storage and retrieval system relative to, for example, a storage space and / or a docking station TS. In one aspect, the robot 110 includes a controller 110C, which, for example, counts the slats 1210S to at least partially determine the position of the robot 110 within the storage and retrieval system 100. In other aspects, the positioning features 130F may be arranged to form an absolute or incremental encoder that, when detected by the robot 110, provides a determination of the position of the robot 110 within the storage and retrieval system 100.

[0071] As can be recognized, refer to Figure 3 and Figure 6B At each docking / transfer station TS, the transfer rack RTS defines multiple load stations on a common transfer rack RS (e.g., having one or more storage box unit holding positions for holding a corresponding number of box units or transport boxes). As described above, each load at the multiple load stations is a single box unit / transport box or multiple box pick-up surfaces (e.g., having multiple box units / transport boxes moving as a single unit) picked up and placed by a robot or load handling device LHD. As may also be appreciated, the robot position described above allows the robot 110 to position itself relative to the multiple load stations for picking up and placing box units / transport boxes and pick-up surfaces from a predetermined position among the holding positions of the multiple load stations. The docking / transfer station TS defines a multi-position buffer (e.g., a buffer with one or more box holding positions—see...). Figure 5C —When robot 110 docks with docking station TS, along, for example, the X-axis of robot 110, the inbound and / or outbound box units / transport boxes and pick-up surfaces are temporarily stored at the multi-position buffer during the transfer between robot 110 and load handling device LHD of elevator 150.

[0072] In one aspect, one or more peripheral buffer / transfer stations BS (essentially similar to docking stations TS, and referred to herein as buffer stations BS) are also located on the side of transfer deck 130B opposite to pick-up aisle 130A and rack module RM, such that transfer deck 130B is inserted between pick-up aisle and each buffer station BS. Peripheral buffer stations BS are scattered between docking stations TS, or (in one aspect, as...) Figure 3 (As shown) is otherwise aligned with the docking station TS. In one aspect, the peripheral buffer station BS is formed by rails 1210, 1200 and slats 1210S, and is a continuation of the docking station TS (but a separate section thereof) (e.g., the docking station and the peripheral buffer station are formed by common rails 1210, 1200). Thus, in one aspect, the peripheral buffer station BS also includes one or more stacked layers TL1, TL2 of transfer rack shelves RTS (as described above with respect to the docking station TS), while in other aspects, the buffer station comprises a single layer of transfer rack shelves. The peripheral buffer station BS defines a buffer station where, when transferred from one robot 110 to another different robot 110 on the same storage layer 130L, the box unit / transfer box and / or pickup face is stored concurrently at the buffer station, as will be described in more detail below. As can be appreciated, in one aspect, the peripheral buffer station is located at any suitable location in the storage and retrieval system, including within the pickup aisle 130A and at any location along the transfer deck 130B.

[0073] Still referencing Figure 3 and Figure 6B In one aspect, the docking station TS is arranged along the transfer deck 130B in a manner similar to parking spaces on the roadside, such that the robot 110 is "parked in parallel" at the designated docking station TS for transferring container units to one or more shelves RTS at one or more levels TL1, TL2 of the docking station TS and transferring container units from thereto. In one aspect, (e.g., when parked in parallel) the transfer orientation of the robot 110 at the docking station TS is the same as the orientation when the robot 110 travels along the high-speed robot transport path HSTP (e.g., the docking station is substantially parallel to the robot travel direction of the transfer deck and / or the side of the transfer deck where the elevator 150 is located). The docking of the robot 110 with the peripheral buffer station BS is also carried out by parallel parking, such that the transfer orientation of the robot 110 at the peripheral buffer station BS (e.g., when parked in parallel) is the same as the orientation when the robot 110 travels along the high-speed robot transport path HSTP.

[0074] Figure 3The exit elevator 150B represents the lifting and transport system 500, wherein the exit elevator 150B has a common output 300 supplying box units from the traverse 550, as described herein. The common output 300 may be formed or connected to one or more conveyor sections 160CBT, 160CBL, 160CBR for transporting box units output by the lifting and transport system 500 to one or more sides of the palletizer 160PB. In another aspect, one or more of the exit elevators 150B may represent the lifting and transport system 500, such that multiple lifting and transport systems 500 are arranged along the transfer deck 130B. Here, each respective lifting and transport system 500 may have a common output 300' coupled to, for example, conveyor section 160CBT for transporting box units to one or more of conveyor sections 160CBR, 160CBL (e.g., to one or more sides of the palletizer 160PB). The conveyor section 160CBT can be bidirectional, allowing the box units to be transferred between the plurality of lifting and transport systems 500.

[0075] In another aspect, refer to Figure 4A At least the docking station TS is located on an extension of the transfer deck 130B or on a pier 130PR. In one aspect, the pier 130PR is similar to a pick-up channel, in which the robot 110 travels along a guide rail 1200S attached to a horizontal support member 1200 (in a manner substantially similar to that described above). In other aspects, the travel surface of the pier 130PR may be substantially similar to the travel surface of the transfer deck 130B. Each pier 130PR is located on one side of the transfer deck 130B, such as the side opposite the pick-up channel 130A and the rack module RM, such that the transfer deck 130B is inserted between the pick-up channel and each pier 130PR. One or more piers 130PR extend from the transfer deck at a non-zero angle relative to at least a portion of the high-speed robot transport path HSTP. In other respects, one or more corner posts 130PR extend from any suitable portion of transfer deck 130B (including ends 130BE1, 130BE2 of transfer deck 130B). As may be appreciated, peripheral buffer station BSD (which is substantially similar to peripheral buffer station BS described above) may also be located at least along a portion of corner post 130PR.

[0076] If possible Figure 4A As seen herein, elevators 150 (exit elevator module 150B and arrival elevator module 150A) are arranged adjacent to the corresponding corner posts 130PR in a manner similar to that described herein, wherein elevators 150 are arranged adjacent to the transfer station TS and buffer station BS of transfer deck 130B (see example). Figure 3 and Figure 5A ).exist Figure 4A The illustration shows a single representative elevator 150A, 150B adjacent to each corner post 130PR; however, it should be understood that a single representative elevator 150A, 150B may represent one or more elevators 150. In particular, one or more of the single representative exit elevators 150B may represent the lifting and transport system 500 described herein. In this aspect, the common output 300 includes one or more conveyor sections 160CBT, 160CBR, 160CBL, wherein at least one of the conveyor sections is bidirectional. For example, the conveyor section 160CBT may be bidirectional to transfer box units to either of the conveyor sections 160CBL, 160CBR (e.g., to either side of the palletizer 160PB) and / or transfer box units between lifting and transport systems 500 connected to the conveyor section 160CBT, thereby achieving the reordering of box units to the (upper) ordered sequence 171 of mixed boxes in the manner described herein. In other respects, such as when a single exit elevator 150B is positioned at corner post 130PR, conveyor section 160CBT can be used as a traverse 550, allowing box units to be transferred between exit conveyors 150B at corner post 130PR, thereby achieving the reordering of box units to the (superior) ordered sequence 171 of the mixed boxes in the manner described herein. In yet other respects, there may be [further details regarding the above]. Figure 3 The described manner is substantially similar to that of multiple lift and transport sections 500 arranged on the common side of the common corner post 130PR (e.g., one or more of a single representative exit elevator 150B may represent multiple lift and transport sections 500), wherein the multiple lift and transport sections 500 are arranged along the transfer deck 130B.

[0077] although Figure 4A The illustration shows a lifting and transport system 500 on one side of the corresponding corner post 130PR, but in other respects, a lifting and transport system 500 may exist on the opposite side of the corner post 130PR, such as... Figure 4B As illustrated in the diagram. Figure 4B In this configuration, the common output 300 includes a conveyor section 160CBT. The conveyor section 160CBT can be bidirectional to transport box units between lifting and transport systems 500 located on opposite sides of the corner post 130PR. As will be appreciated, in the case of transferring box units between lifting and transport systems 500, the transverse member 550 of the respective lifting and transport system 500 can be bidirectional to transport the box units to any one or more of the lifting axes 150X1-150Xn of the respective lifting and transport system 500, thereby facilitating the reordering of the box units as described herein.

[0078] Now for reference Figure 5A , Figure 5B , Figure 5C , Figure 6A and Figure 6B As described above, in one aspect, the docking station TS is a passive station, and thus the load transfer device LHD of the elevator 150 has one or more active transfer arms or pickup heads 4000A. In one aspect, the inbound elevator module 150A and the outbound elevator module 150B may have pickup heads of different types, while in other aspects, the inbound elevator module 150A and the outbound elevator module 150B have the same type of pickup heads, as described, for example, in U.S. Patent No. 9,856,083 (U.S. Application No. 14 / 997,920), granted January 2, 2018, the disclosure of which is incorporated herein by reference in its entirety. In one aspect, the one or more pickup heads 4000A of the elevator 150 may at least partially define the asynchronous transport axis Y, while in other aspects, the Y-direction movement of the one or more pickup heads 4000A may be separate from and different from the asynchronous transport axis Y.

[0079] In one aspect, an elevator 150 (e.g., both an inbound elevator 150A and an outbound elevator 150B) has a vertical column 4002 along which a sliding member 4001 travels under the power of any suitable drive unit 4002D (e.g., connected to, for example, a control server 120), the drive unit being configured to raise and lower the sliding member (and the one or more pickup heads 4000A mounted thereto, and any housing units disposed on the one or more pickup heads 4000A). The elevator 150 includes one or more pickup heads 4000A mounted to the sliding member 4001 such that when the sliding member moves vertically, the one or more pickup heads 4000A move vertically together with the sliding member 4001. Figures 5A-5C In the aspect illustrated, the one or more pickup heads 4000A include one or more tips or fingers 4273 mounted to a base member 4272. The base member 4272 is movably mounted to one or more guide rails 4360S of a frame 4200, which in turn is mounted to a slider 4001. Any suitable drive unit 4005 (such as a belt driver, chain driver, screw driver, gear driver, etc.) (which is substantially similar in form to the driver 4002D, but may not be similar in capacity to the driver 4002D, as the driver 4005 may be smaller than the driver 4002D) is mounted to the frame 4200 and coupled to the base member 4272 for driving the base member 4272 (and (one or more) fingers) in the direction of arrow 4050. Although in Figures 5A-6BThe diagram illustrates a single pickup head 4000A, but in other respects, two or more separate pickup head portions may exist on the public elevator 150, as described in U.S. Patent 9,856,083. Additionally, although in Figures 5A-6B The one or more pickup heads 4000A are illustrated as being mounted on a single side of a vertical support 4002; however, in other respects, pickup heads 4000 (substantially similar to the one or more pickup heads 4000A) may extend from the side of the vertical support 4002 opposite to the one or more pickup heads 4000A. Pickup heads 4000 may be mounted to the same slider 4001 as the one or more pickup heads 4000A so that they can move along the vertical support 4002 as a unit together with the one or more pickup heads 4000A. In other respects, pickup heads 4000 may be mounted to separate and distinct sliders 4001A, such that pickup heads 4000 and 4000A can move vertically independently (e.g., separately) along the vertical support 4002. Relatively extended pickup heads may be used when a transfer station TS (or buffer station BS) is located on the opposite side of the vertical support 4002.

[0080] refer to Figure 5A The elevators 150 (at least the exit elevator 150B) are arranged adjacent to each other (e.g., substantially in a row) to form a lifting transport system 500 having more than one independent elevator axis 150X1-150Xn arranged along at least one direction. In other aspects, such as Figure 5D As illustrated, elevators 150 (at least exit elevators) are arranged in a two-dimensional array of more than one independent elevator axis to form an elevator transport system 500. Each row 599R1, 599R2 (two rows are shown for illustrative purposes, but it should be understood that any suitable number of rows may exist) may include any suitable number of elevators 150X1-150Xn, 150AX1-150AXn, and any suitable number of columns 599C1-599Cn may exist. As will be appreciated, at least each row 599R1, 599R2 of elevators 150 may provide a transport path for robot 110 (by... Figure 5DThe layer 130L indicator in the middle) and different feed stations 556. There may also be cross-sections 550 corresponding to each row 599R1, 599R2 of the elevator 150, wherein cross-sections 550 of different rows 599R1, 599R2 can be merged into a common output 300. In other respects, cross-sections 550 of different rows 599R1, 599R2 may not be merged into a common output. The feed interface 555 communicatively connects the multi-level transport system 190 to each of the more than one independent elevator axis 150X1-150Xn. The feed interface 555 includes different feed stations 556 distributed at each asynchronous multi-level transport system 191 for each of the more than one independent elevator axis 150X1-150Xn (and / or 150AX1-150AXn). Figure 5A This is such that each of the more than one independent elevator shaft 150X1-150Xn (and / or 150AX1-150AXn) has a different corresponding feed station 556 at each asynchronous layer transport system 191, through which the mixing box is fed from the multi-layer transport system 190 to each of the more than one independent elevator shaft 150X1-150Xn (and / or 150AX1-150AXn).

[0081] Each of the independent lift axes 150X1-150Xn (note that lift axes 150AX1-150AXn are substantially similar to lift axes 150X1-150Xn, and any description of lift axes 150X1-150Xn applies equally to lift axes 150AX1-150AXn) is communicatively connected via feed interface 555 to each asynchronous layer transport system 191 (part of which is illustrated in Figure 5) to provide at least one box unit CU in each asynchronous layer transport system 191 and each independent lift axis 191. Exchange between lift axes 150X1-150Xn. For example, each individual lift axis 150X1-150Xn can be communicatively coupled to an array of asynchronous floor transport axes corresponding to each asynchronous floor transport axis X and Y of each asynchronous floor transport system 191. The communicative coupling between the individual lift axes 150X1-150Xn and each asynchronous floor transport system 191 also provides for the feeding of the mixing box from at least one asynchronous floor transport system (e.g., a feeding interface 55 such as between the inbound lift 150A and the corresponding one in floor 130L). 5 (e.g., including a corresponding transfer station TS or a corresponding buffer station BS)) is transferred to each of the more than one independent elevator shaft 150X1-150Xn, such that a mixing box is output from the multi-level transport system 190 by the independent elevator shaft 150X1-150Xn. In one aspect, the mixing boxes are output substantially continuously via a common output 300 in a predetermined box output ordered sequence 172 of the mixing boxes, which is consistent with the mixing boxes (which are formed at the feed interface 555 from and through the multi-level transport system 190 and through the feed) The interface 555 is disconnected from the available sequence (e.g., feed sequence sequence 173) fed to more than one independent lift axis 150X1-150Xn. The more than one independent lift axis 150X1-150Xn of the lift transport system 500 defines the mixing box from the feed interface 555 (where the lift transport flow 800 has the available sequence of mixing boxes (e.g., feed sequence sequence 173)) to the common output 300 (where the lift transport flow 800 has a predetermined box output ordered sequence 172 of mixing boxes) in the lift transport flow 999 (see, for example...). Figure 8 , Figure 8B , Figure 8C , Figure 10 , Figure 10C , Figure 12 and Figure 12C), and at least one of the more than one independent elevator axes 150X1-150Xn defines a passage and bypass (e.g., bypass) relative to another of the more than one independent elevator axes 150X1-150Xn, thereby enabling in-flight / in-motion reordering of the available sequence (e.g., feed sequence sequence 173) of the mixed boxes in the elevator transport flow 999 to the predetermined box output ordered sequence 172 of the mixed boxes at the common output 300.

[0082] Each of the more than one lift shaft 150X1-150Xn is communicatively connected to each of the other independent lift shafts 150X1-150Xn, and forms or otherwise communicatively connected to a common output 300 of a mixing box output by each of the more than one independent lift shaft 150X1-150Xn (see...). Figure 1A , Figure 3 , Figure 4A and Figure 4B —Also known as a common lift transport output). The more than one independent lift shaft 150X1-150Xn are collectively output from the lift transport system 500 via a common output 300 to the mixed box. For example, still referring to Figure 5A Each independent lift axis 150X1-150Xn has a corresponding output section 520 and a transverse member 550, which operatively connects the corresponding output section 520 of each independent lift axis 150Xa-150Xn to a common output 300, such that the mixing chamber from each independent lift axis 150X1-150Xn reaches the common output 300 via the transverse member 550. For example... Figure 5A As illustrated herein, the traverse member 550 operatively interconnects at least two of the independent lift axes 150X1-150Xn. As described herein, the traverse member 550 is configured to form an alternative / bypass path for the mixed containers transported and output via the more than one independent lift axis 150X1-150Xn of the lift transport system 500, thereby enabling at least partially a reordering from a lower ordered sequence 170 of the mixed containers at the feed of the lift transport system 500 to a higher ordered sequence 171S of the mixed containers at the output of the lift transport system 500; wherein the lower ordered sequence 170 and the higher ordered sequence 171S of the mixed containers are respectively a lower order and a higher order in the sequence order relative to the predetermined box output ordered sequence 172 of the mixed containers.

[0083] The more than one elevator axis 150X1-150Xn is configured to form an ordered sequence of mixed boxes at a common output 300 and from the common output 300 according to a predetermined box output ordered sequence 172 of the mixed boxes. As described in more detail herein, the more than one independent elevator axis 150X1-150Xn is configured to reorder the mixed box units (e.g., receive from one or more asynchronous layer transport systems 191) and utilize the elevator transport system 500 to achieve the following change in the ordered sequence of the mixed boxes in flight (in motion): from the lower ordered sequence 170 of the mixed boxes at the feed point of the elevator transport system 500 (e.g., at a transfer station TS or buffer station BS such as at the exit elevator 150B). Figure 1A The upper ordered sequence 171S of the mixing box at the common output 300 of the lifting transport system 500 is... Figure 1A For example, in conjunction with or replacing the alternative / bypass path for the mixing boxes formed by the traverse member 550, at least one independent lift axis 150X1-150Xn is configured to form an alternative / bypass path for the mixing boxes transported and output by more than one independent lift axis 150X1-150Xn through the lift transport system 500, thereby achieving at least partially a reordering from the lower ordered sequence 170 of the mixing boxes at the feed of the lift transport system 500 to the upper ordered sequence 171S of the mixing boxes at the output of the lift transport system 500.

[0084] The superior ordered sequence 171S of the mixing box at the common output 300 is formed on the transverse piece 550, and is essentially formed by the outermost independent elevator axis (such as...). Figure 5A As illustrated, it will be within the boundaries defined by the independent lift axes 150X1 and 150Xn at the extremes of the rows of independent lift axes 150X1-150Xn. The upper ordered sequence 171S of the mixed boxes (e.g., the ordered sequence of mixed boxes at the common output and generated from the common output according to the predetermined box output ordered sequence 172 of the mixed boxes) is substantially continuous and is constructed by, for example, a high-speed (more than 500 transfer actions per hour on the pallet and more than 1000 in one aspect) pallet builder (e.g., palletizer 160PB) to build at least one layer of mixed box pallets with lateral distribution and stacking of mixed boxes (as shown in the figure). Figure 1DThe sequence is generated consistently as illustrated and described. The superior ordered sequence 171S of the mixing bin is characterized by the sequence order of its mixing bin units, which converges to or is close to the predetermined bin output ordered sequence 172 of the mixing bin, such that there is a strong correlation between the corresponding sequence orders of the superior ordered sequence 171S and the predetermined bin output ordered sequence 172 of the mixing bin. This strong correlation ensures that the sequence order of the superior ordered sequence 171S is a near-net sequence order of the predetermined bin output ordered sequence 172 of the mixing bin. The lower-order sequence 170 of the mixing box is characterized by the sequence order of its mixing boxes, which diverges from or is substantially neutral to the predetermined box output ordered sequence 172 of the mixing box, such that there is a weak correlation between the corresponding sequence order of the lower-order sequence 170 of the mixing box and the predetermined box output ordered sequence 172 of the mixing box (compared to the strong correlation of the upper-order sequence 171S of the mixing box).

[0085] As you will appreciate, the elevator modules 150A, 150B and the crossbeam 550 are under the control of any suitable controller (such as control server 120) such that when picking up and placing (one or more) box units, the pickup head is raised and / or lowered to a predetermined height corresponding to, for example, a predetermined storage layer 130L and / or a docking station TS at the crossbeam 550 (e.g., to at least partially reorder the mixed boxes). As you will appreciate, the elevator modules 150A, 150B provide the Z-axis of transport for the storage and retrieval system 100 (relative to both the robot reference coordinate system REF and the shelf reference coordinate system REF2), wherein the output elevator module 150B sorts the box units in flight (in motion) for delivery to the output station 160US, as will be described below. At docking station TS, the pickup heads 4000A, 4000B, or their components (e.g., actuators LHDA and LHDB) (corresponding to the holding position of one or more box units picked up from docking station TS) extend such that the finger 4273 is positioned below the slat 1210S (e.g., ...) of the picked-up box unit(s). Figure 4BThe pickup heads 4000A and 4000B (as illustrated in the diagram) intersect each other. Lifts 150A and 150B raise pickup heads 4000A and 4000B to lift (one or more) box units from slat 1210S, and retract pickup heads 4000A and 4000B for transporting (one or more) box units to another level of the storage and retrieval system, such as for transporting (one or more) box units to output station 160UT. Similarly, for placing (one or more) box units, pickup heads 4000A and 4000B, or portions thereof (e.g., actuators LHDA and LHDB) (corresponding to the holding position of (one or more) box units placed in docking station TS), extend such that fingers 4273 are positioned above the slats. Elevators 150A and 150B lower pickup heads 4000A and 4000B to place one or more box units onto slats 1210S, with fingers 4273 intersecting each other below the picked-up box units. In other aspects, the elevators may have any suitable configuration for picking up and placing box units from and onto docking stations TS. For example, pickup heads 4000A and 4000B may be configured with arms that push (e.g., pull) box units to or from docking stations TS. As another example, pickup heads 4000A and 4000B may be configured with conveyor belts that transport box units between elevator 150 and docking stations TS.

[0086] Now refer to Figure 2. Figure 3 , Figure 4A and Figure 4B As described above, robot 110 includes a transfer arm 110PA, which transfers the robot from at least partially along the Z direction via guide rails 1210A, 1210B, and 1200 (…). Figure 5A The stacked storage spaces 130S, docking stations TS, and peripheral buffer stations BS, BSD pick-up and place-of-bag units are defined by one or more of these elements (e.g., said storage spaces, docking stations, and / or peripheral buffer stations may be further defined along the X and Y directions relative to the rack reference coordinate system REF2 or the robot reference coordinate system REF by the dynamic allocation of the bag units, as described above). As can be appreciated, the robot defines the X transport axis and at least partially defines the Y transport axis (e.g., relative to the robot reference coordinate system REF), as will be further described below. As described above, the robot 110 transports bag units between each lift module 150 on the respective storage layer 130L and each storage space 130S.

[0087] Robot 110 includes a frame 110F having a drive section 110DR and a payload section 110PL. The drive section 110DR includes one or more drive wheel motors, each connected to a corresponding drive wheel 202 for propulsion of robot 110 along the X-direction (relative to the robot reference coordinate system REF to define the X-throughput axis). As can be appreciated, the X-axis of robot travel is aligned with the storage location as robot 110 travels through the pick-up channel 130A. In this aspect, robot 110 includes two drive wheels 202 located on opposite sides of robot 110 at an end 110E1 (e.g., a first longitudinal end) for supporting robot 110 on a suitable drive surface; however, in other aspects, any suitable number of drive wheels may be provided on robot 110. In one aspect, each drive wheel 202 is controlled independently, thereby allowing the robot 110 to be manipulated by differential rotation of the drive wheels 202. In other aspects, the rotation of the drive wheels 202 may be coupled to rotate at substantially the same speed. Any suitable wheel 201 is mounted to the frame at the end 110E2 (e.g., a second longitudinal end) of the robot 110 on the opposite side of the robot 110 to support the robot 110 on a drive surface. In one aspect, the wheel 201 is a caster wheel that rotates freely, allowing the robot 110 to pivot by differential rotation of the drive wheels 202 to change the direction of travel of the robot 110. In other aspects, the wheel 201 is a maneuverable wheel that rotates under the control of, for example, a robot controller 110C (which is configured to implement control of the robot 110 as described herein) to change the direction of travel of the robot 110. In one aspect, the robot 110 includes one or more guide wheels 110GW located at one or more corners of, for example, a frame 110F. Guide wheels 110GW can be mounted on transfer deck 130B and / or at docking or transfer stations with storage structures 130 (such as guide rails 1200S within pick-up channels 130A). Figure 1CThe robot 110 is designed to dock with the lift module 150 to guide and / or position the robot 110 at a predetermined distance from the location where one or more bin units are placed and / or picked up, as described, for example, in U.S. Patent Application No. 13 / 326,423, filed December 15, 2011, the disclosure of which is incorporated herein by reference in its entirety. As described above, the robot 110 can enter a pickup channel 130A with different facing directions to access storage spaces 130S located on either side of the pickup channel 130A. For example, the robot 110 can enter the pickup channel 130A using the end 110E2 that guides the direction of travel, or the robot can enter the pickup channel 130A using the end 110E1 that guides the direction of travel.

[0088] The payload section 110PL of robot 110 includes a payload bed 110PB, a guardrail or reference member 110PF, a transfer arm 110PA, and a push rod or member 110PR. In one aspect, the payload bed 110PB includes one or more rollers 110RL, which are laterally mounted (e.g., relative to the longitudinal axis LX of robot 110) to frame 110F such that one or more box units carried within the payload section 110PL can be moved longitudinally along the longitudinal axis of the robot (e.g., aligned relative to a predetermined position of the frame / payload section and / or a reference reference of one or more box units), for example, to position the box units at predetermined positions (e.g., longitudinal front / back alignment of box units) within the payload section 110PL and / or relative to other box units within the payload section 110PL. In one aspect, the rollers 110RL can be driven by any suitable motor (e.g., rotated about their respective axes) to move the box units within the payload section 110PL. In other aspects, robot 110 includes one or more longitudinally movable push rods (not shown) for actuating the box units via roller 110RL to move the box units(s) to predetermined positions within payload section 110PL. The longitudinally movable push rods may be substantially similar to those described, for example, in U.S. Patent Application 13 / 326,952, filed December 15, 2011, the disclosure of which is previously incorporated herein by reference in its entirety. Push rod 110PR is movable in the Y direction relative to robot 110 reference coordinate system REF to achieve lateral alignment of the box units(s) within payload section 110PL in conjunction with the pick-up head 270 of guardrail 110PF and / or transfer arm 110PA, in a manner described in U.S. Provisional Patent Application No. 62 / 107,135, filed January 23, 2015, the disclosure of which is previously incorporated herein by reference in its entirety.

[0089] Referring again to Figure 6, the transfer arm 110PA is used to place box units onto and remove box units from the payload bed 110PB along the Y-axis. The transfer arm 110PA includes a lift mechanism or unit 200 substantially located within the payload section 110PL, as described, for example, in U.S. Provisional Patent Application No. 62 / 107,135, filed January 23, 2015, which is previously incorporated herein by reference in its entirety. The lift mechanism 200 provides coarse and fine positioning of the pickup surface carried by the robot 110, which will be vertically raised and lowered into a position within the storage structure 130 for picking up and / or placing the pickup surface and / or individual box units into storage space 130S (e.g., on the corresponding storage layer 130L where the robot 110 is located). For example, the lifting mechanism 200 provides for picking up and placing container units at multiple raised storage shelving levels 130LS1-130LS4, TL1, TL2 that are accessible from a common pick-up passage or docking station deck / rail 1200S (see example). Figure 1B and Figure 5A ).

[0090] The lifting mechanism 200 is configured to cause substantially simultaneous movement of the robot's axes performing the combined action (e.g., a combination of push rod 110PR, lifting mechanism 200, pickup head extension, and front / rear alignment mechanisms such as, for example, longitudinally movable push rods as described above), enabling the robot to handle different / multiple SKUs or multiple pickup payloads. In one aspect, the actuation of the lifting mechanism 200 is independent of the actuation of push rod 110PR, as will be described below. Decoupling the lifting mechanism 200 from push rod 110PR provides a combined pickup / placement sequence, thereby achieving reduced pickup / placement cycle time, increased throughput of the storage and retrieval system, and / or increased density of the storage and retrieval system, as described above. For example, the lifting mechanism 200 provides the pickup and placement of container units at multiple raised storage shelving levels accessible from a common pickup passage and / or docking station deck 1200S, as described above.

[0091] The lifting mechanism can be configured in any suitable manner to allow the pickup head 270 of robot 110 to move bidirectionally along the Z-axis (e.g., reciprocate along the Z-direction—see...). Figure 2AIn one aspect, the lifting mechanism includes a support column 200M, and a pickup head 270 is movably mounted to the support column 200M in any suitable manner. The support column is movably mounted to the frame in any suitable manner so as to be movable along the lateral axis LT of the robot 110 (e.g., along the Y direction to define the Y transport axis). In one aspect, the frame includes guide rails 210A and 210B to which the support column 200 is slidably mounted. Transfer arm actuators 250A and 250B can be mounted to the frame for realizing movement of the transfer arm 110PA at least along the lateral axis LT (e.g., the Y axis) and the Z axis. In one aspect, the transfer arm actuators 250A and 250B include an extension motor 301 and a lifting motor 302. The extension motor 301 can be mounted to the frame 110F and coupled to the support column 200M in any suitable manner, such as via a belt and pulley drive 260A, a screw drive (not shown), and / or a gear drive (not shown). The lifting motor 302 can be mounted to the support column 200M and coupled to the pickup head 270 via any suitable transmission device (such as belt and pulley drive 271, screw drive (not shown), and / or gear drive (not shown)). As an example, the support column 200M includes guides, such as guide rails 280A and 280B, along which the pickup head 270 is mounted for guided movement along the guide rails 280A and 280B in the Z-direction. In other respects, the pickup head is mounted to the support column in any suitable manner for guided movement in the Z-direction. Regarding the transmission device 271, the belt 271B of the belt and pulley drive 271 is fixedly coupled to the pickup head 270 such that when the belt 271 moves (e.g., driven by the motor 302), the pickup head 270 moves with the belt 271 and is bidirectionally driven along the guide rails 280A and 280B in the Z-direction. As can be appreciated, when a screw driver is used to drive the pickup head 270 in the Z direction, a nut can be mounted to the pickup head 270 such that the engagement between the nut and the screw causes movement of the pickup head 270 when the screw is rotated by the motor 302. Similarly, when a gear-driven transmission is used, a rack and pinion or any other suitable gear driver can drive the pickup head 270 in the Z direction. In other respects, any suitable linear actuator is used to move the pickup head in the Z direction. The transmission 260A for the extension motor 301 is substantially similar to that described herein with respect to transmission 271.

[0092] Still referencing Figure 2A The pickup head 270 of robot 110 transfers the box unit between robot 110 and the box unit pickup / placement location, such as, for example, storage space 130S, peripheral buffer station BS, BSD and / or docking station TS (see Figure 3 , Figure 4Aand Figure 4B In one aspect, the pickup head 270 includes a base member 272, one or more tips or fingers 273A-273E, and one or more actuators 274A, 274B. The base member 272 is mounted to a support column 200M, as described above, for travel along guide rails 280A and 280B. The one or more tips 273A-273E are mounted to the base member 272 at their proximal ends such that the distal ends (e.g., free ends) of the tips 273A-273E cantilever from the base member 272. (See again) Figure 1D The pointed ends 273A-273E are configured to be inserted between the slats 1210S of the box unit support plane CUSP that form the storage shelf.

[0093] One or more of the tips 273A-273E are movably mounted to the base member 272 (e.g., on a slide rail / guide similar to that described above) so that they can move in the Z direction. In one aspect, any number of tips are mounted to the base member 272, while in the aspect illustrated in the figures, for example, there are five tips 273A-273E mounted to the base member 272. Any number of tips 273A-273E are movably mounted to the base member 272, while in the aspect illustrated in the figures, for example, the outermost tips 273A, 273E (relative to the center line CL of the pickup head 270) are movably mounted to the base member 272, while the remaining tips 273B-273D are not movable relative to the base member 272.

[0094] In this aspect, the pickup head 270 employs as few as three tips 273B-273D to transfer smaller-sized box units (and / or groups of box units) to and from robot 110, and employs up to five tips 273A-273E to transfer larger-sized box units (or groups of box units) to and from robot 110. In other aspects, fewer than three tips are used (e.g., as in cases where more than two tips are movably mounted to base member 272) to transfer smaller-sized box units. For example, in one aspect, all but one tip 273A-273E are movably mounted to base member such that the smallest box unit is transferred to and from robot 110 without interfering with a distance X1, for example, between approximately slats 1210S (see...). Figure 1D Other box units on the storage shelves of the width of )

[0095] The immovable tips 373B-373D define the pickup plane SP of the pickup head 270 and are used when transferring box units (and / or pickup faces) of all sizes, while the movable tips 373A, 373E are selectively raised and lowered relative to the immovable tips 373B-373D (e.g., using actuators 274A, 274B along the Z direction) to transfer larger box units (and / or pickup faces). Still refer to Figure 2A An example is shown in which all tips 273A-273E are positioned such that the cell support surface SF of each tip 273A-273E coincides with the pickup plane SP of the pickup head 270. However, as can be appreciated, the two end tips 273A, 273E are movable so as to be positioned lower (e.g., along the Z direction) relative to the other tips 273B-273D, such that the cell support surface SF of tips 273A, 273E is offset from the pickup plane SP (e.g., below), so that tips 273A, 273E do not contact one or more cell units carried by the pickup head 270 and do not interfere with any unpicked cell units positioned in the storage space 130S on the storage shelf or in any other suitable cell unit holding position.

[0096] The movement of the tips 273A-273E along the Z-direction is achieved by one or more actuators 274A, 274B mounted at any suitable location on the transfer arm 110PA. In one aspect, the one or more actuators 274A, 274B are mounted to the base member 272 of the pickup head 270. The one or more actuators are any suitable actuators capable of moving the one or more tips 273A-273E along the Z-direction, such as linear actuators. For example... Figure 2A In the aspects illustrated, there is an actuator 274A, 274B for each of the movable tips 273A, 273E, such that each movable tip can move independently in the Z direction. In other aspects, an actuator can be coupled to more than one movable tip, such that the more than one movable tip moves as a unit in the Z direction.

[0097] As can be appreciated, movably mounting one or more tips 273A-273E on the base member 272 of the pickup head 270 provides full support for large container units and / or pickup surfaces on the pickup head 270, while also providing the ability to pick up and place small container units without interfering with other container units positioned on, for example, storage shelves, docking stations, and / or peripheral buffer stations. The ability to pick up and place variable-sized container units without interfering with other container units on storage shelves, docking stations, and / or peripheral buffer stations reduces the gap GP between container units on the storage shelf (see...). Figure 1BThe dimensions of the box unit are as follows. As can be appreciated, since the tips 273B-273D are fixed to the base member 272, there is no duplicative movement when picking up / placing the box unit, because raising the box unit and / or pickup surface to the box unit holding position and lowering the box unit and / or pickup surface from the box unit holding position is achieved solely by the lifting motors 301, 301A.

[0098] Refer again Figure 2A Note again that push rod 110PR is movable independently of transfer arm 110PA. Push rod 110PR is movably mounted to the frame in any suitable manner (e.g., by guide rod and sliding arrangement) and is actuated along the Y direction (e.g., along a direction substantially parallel to the extension / retraction direction of transfer arm 110PA). In one aspect, at least one guide rod 360 is mounted within the load section 110PL to extend laterally relative to the longitudinal axis LX of frame 110F. Push rod 110PR may include at least one sliding member 360S configured to engage and slide along a corresponding guide rod 360. In one aspect, at least the guide rod / sliding arrangement retains push rod 110PR within the load section 110PL. Push rod 110PR is actuated by any suitable motor and drive (e.g., by motor 303 and drive 303T). In one aspect, motor 303 is a rotary motor, and drive 303T is a belt and pulley drive. In other respects, the push rod 110PR can be actuated by a linear actuator that has virtually no rotating parts.

[0099] The push rod 110PR is arranged within the effective load section 110PL so as to be substantially perpendicular to the roller 110RL and to ensure that the push rod 110PR does not interfere with the pickup head 270. For example, it can be... Figure 10BAs seen, robot 110 is in a transport configuration, in which at least one bin unit is supported on roller 110RL (e.g., rollers that together form a payload bed). In this transport configuration, the tips 273A-273E of pickup head 270 intersect with roller 110RL and are located below the bin unit support plane RSP of roller 110RL (along the Z direction). Push rod 110PR is configured with a groove 351 through which the tips 273A-273E pass, wherein sufficient clearance is provided in the groove 351 to allow the tips to move below the bin unit support plane RSP and to allow push rod 110PR to move freely without interfering with the tips 273A-273E. Push rod 110PR also includes one or more orifices through which roller 110RL passes, wherein the orifices are sized to allow the roller to rotate freely about its respective axis. As can be appreciated, the independently operable push rod 110PR does not interfere with the roller 110PR, the extension of the transfer arm 110PA in the lateral direction (e.g., the Y direction), and the raising / lowering of the pickup head 270.

[0100] As described above, since the push rod 110PR is a separate, independent axis of the robot 110 that operates without interference from the extension of the pick-up head 270 and the elevator axis, the push rod 110PR can operate substantially simultaneously with the lifting and / or extension of the transfer arm 110PA. Combined axis movement (e.g., simultaneous movement of the push rod 110PR with the extension of the transfer arm 110PA and / or the elevator axis) provides increased payload handling throughput along the Y-axis and enables ordered (e.g., according to the box transfer sequence of the corresponding asynchronous layer transport system 191) multiple pick-ups of two or more box units from a common pick-up channel in a single common pass through the pick-up channel, as described, for example, in U.S. Patent No. 9,856,083, granted January 2, 2018, the disclosure of which is previously incorporated herein by reference in its entirety.

[0101] refer to Figure 1A and Figure 5AAs described above, the elevators 150 forming the more than one independent elevator axes 150X1-150Xn are controlled by a control server 120 such that when picking up and placing (one or more) bin units, the pickup head is raised and / or lowered to a predetermined height corresponding to the docking station TS at, for example, a predetermined storage layer 130L and / or the traverse 550 (e.g., to at least partially reorder the mixed bins). In one aspect, the control server 120 also controls the traverse 550 such that it not only transfers bin units to the output station 160UT, but also transfers bin units between the more than one independent elevator axes 150X1-150Xn. Here, the more than one independent elevator axes 150X1-150Xn, individually or in combination with the traverse 550, reorder the lower-order sequence 170 of the mixed bins in any suitable manner (such as those described below).

[0102] In one aspect, as described herein, the more than one elevator axis 150X1-150Xn forms a bypass or pathway in the elevator transport flow (in flight or in motion). As described herein, each level 130L of the multi-level transport system 190 has an asynchronous level transport system (where asynchronous may refer, for example, to robot 110 being nondeterministic, and at least partially, to transfer deck 130B being nondeterministic, such that each channel / storage location communicates with an input / output station at each level 130L). Each asynchronous level transport system 191 has a level transport rate TXR (FIG. 1) that can be optimized in any suitable manner for load balancing. The level transport rate TXR generates or otherwise defines load spreading, so that each robot 110 can perform a similar number (e.g., an average number) of transactions (e.g., moving boxes from storage to input / output stations). In other respects, the tier transport rate (TXR) can be time-optimized to minimize the transaction time of one or more boxes to / from storage racks via one or more robots 110 / asynchronous tier transport axes X, Y of at least a portion of one or more asynchronous tier transport systems 191. In still other respects, the tier transport rate (TXR) can be a combination of load balancing and time optimization. As can be appreciated, the tier transport rate (TXR) improves the optimal rate of the asynchronous tier transport system 191 (e.g., through load balancing and / or time optimization) by alternating the sequence of boxes in tier transport transactions. In one aspect, at least some sorting may be performed by one or more asynchronous layer transport systems 191 in a manner similar to that described, for example, in U.S. Pre-Government Publication No. 2016 / 0207711 (Application No. 14 / 997,902) published July 21, 2016, and / or in U.S. Patent No. 9,850,079 (Application No. 15 / 003,983) granted December 26, 2017, the disclosures of which are incorporated herein by reference in their entirety; however, in other aspects, the sorting of containers by one or more asynchronous layer transport systems 191 may be a secondary consideration and based, for example, on the opportunity for optimization via layer transfer rate. The layer transport rate generates or otherwise defines the available sequence of mixed containers (also referred to as the lower-order sequence 170 of mixed containers) defined and realized by the layer transport rate TXR at feed interface 555, see, for example Figure 7 And the following equation [1].

[0103] In one aspect, reference Figure 1A , Figure 5A and Figure 7Control server 120 can control the more than one elevator axis 150X1-150Xn to sort boxes (e.g., multi-lift box sorting) such that box units are picked up from any of the layers 130L of the multi-level transport system 190 in a hierarchical manner by the more than one elevator axis 150X1-150Xn, wherein the box units are transported to the traverse member 550 in a higher ordered sequence 171S of mixed boxes. By way of example, control server 120 may include system model 128 and state maintenance and estimation module 129, which are substantially similar to the system model and state maintenance and estimation module described in U.S. Patent No. 9,733,638 (Application No. 14 / 229,004), granted August 15, 2017, the disclosure of which is incorporated herein by reference in its entirety. System model 128 can model the performance aspects and constraints of components of storage and retrieval system 100 (e.g., elevator axes 150X1-150Xn, storage structure 130, robot 110, input and output stations, etc.). The system model solution can explore state trajectories of actions, such as transporting boxes from an order list via more than one elevator axis 150X1-150Xn. The system model can be updated substantially in real-time, for example, via sensing and actuation data from lower-level controllers (see controllers 120S1-120Sn described herein), thereby enabling the determination of optimal solutions in flight or motion over predetermined time periods. State maintenance and estimation module 129 can be coupled to the state model and facilitates the estimation and maintenance of state trajectories generated using the state model. The state trajectory estimation is dynamic and can take into account uncertainties and disturbances, changes in resources, objectives and / or constraints. It can be updated within the desired segment of a predetermined time period based on various disturbances and / or triggers (e.g., rolling planning time domain, layer closure, robot failure, storage pick-up action failure, storage place / placement action failure, etc.).

[0104] The corresponding asynchronous layer transport system 191 transfers container units to transfer stations TS on, for example, one or more layers 130L in the feed sequence 173, such that the container units are placed at the transfer station TSF in a lower-order sequence 170 of the mixed containers. The container units can be transferred to the feed of the lifting transport system 500 as a substantially continuous input flow of mixed containers, mixed container groups, mixed container pick-up surfaces, etc., via the multi-layer transport system 190. The feed of the lifting transport system 500 can be achieved by the feed interface 555 frame 777 ( Figure 7The feed interface 555 frame 777 is not necessarily a physical structure; rather, the feed interface 555 frame 777 defines the outer boundaries of the lift transport system 500 within the storage and retrieval system 100 in the X (or Y) and Z ranges. The more than one independent lift axis 150X1-150Xn utilizes one or more of the following: transfer station TS (on different levels 130L of the multi-level transport system 190), buffer station BS (on different levels 130L of the multi-level transport system 190), and traverse member 550 (or other suitable (one or more) conveyors) to transition the boxes into a higher-order sequence 171S of mixed boxes.

[0105] The feed interface 555 reference frame connects more than one independent lift axis 150X1-150Xn “cells” 150CEL (which are merged into a common output 300 as described herein) to the multi-level transport system 190 and each asynchronous layer transport system 191 on different layers 130L, such that each lift axis 150X1-150Xn has a different corresponding input / output station (e.g., also referred to herein as feed station 556) at each asynchronous layer transport system 191, wherein the input / output stations 556 form a multidimensional array I / O (x, z). The asynchronous layer transport system 191 provides or inputs mixing boxes at each array of input / output stations 556 at its (transactional) optimal transfer rate, the mixing boxes collectively defining the available ordered sequence of mixing boxes (also referred to as the lower ordered sequence 170 of mixing boxes at the feed interface 555 (and correspondingly at each input / output station 556)) via each input / output station 556. Therefore, the available ordered sequence 170 of the hybrid bins is determined by the layer transport transaction rate TXR and can be considered as a three-dimensional array with two-dimensionally distributed input / output stations 556 (e.g., distributed in x and z) that are variable over time (t). The available ordered sequence 170 of the hybrid bins can be characterized as I / O(x, z)(t). Furthermore, for the sake of simplicity of description, the feed interface 555 can be considered as a common aggregate feed interface 555 framework 777 ( Figure 7 The three-dimensional array is represented as a single common linear input axis that varies with time, where the available ordered sequence of mixing boxes from (one or more) asynchronous layer transport systems 191 at feed interface 555 can be characterized as normalized input α. i α1, α2, α3, etc., are the order of the mixing bins available at the feed interface 555 frame 777. As mentioned earlier, the available ordered sequence 170 of the mixing bins is uncorrelated or weakly correlated with the predetermined ordered sequence 172 of the predetermined bin output of the mixing bins.

[0106] The multiple independent lift shafts 150X1-150Xn (e.g., a lift shaft system having multiple lift shafts merged into a common output 300) are fed a mixing box via a usable ordered sequence 170 of mixing boxes through a feed interface 555 frame, and have an ordered sequence 171 of mixing boxes forming the common output 300 (which can be characterized as a normalized output Ω). i The configuration of the mixing box is such that the ordered sequence of the mixing box is consistent with or strongly correlated with the predetermined ordered sequence 172 of the mixing box output. As further described below, each of the more than one independent lift axis 150X1-150Xn is configured to define a corresponding path or bypass (also referred to as a switch) relative to another of the more than one independent lift axis 150X1-150Xn.

[0107] In various aspects of the disclosed embodiments described herein, the feed rate (I) of the lifting transport system 500 can be […]. (x，z)α (t) (at this feed rate, the lower ordered sequence 170 (α(t)) of the mixing box is supplied to the output and reordering section 199 by the multi-level transport system 190) is defined as:

[0108] I (x，x)α (t)=α(t)=α1,α2,α3,α4,α5,...,αn [1] for any given predetermined time period (e.g., range (horizon)), where α1 to αn represent the ordinate box units in the time-ordered sequence of box units that form a lower-ordered sequence 170 (α(t)) of mixed boxes transported by multi-level transport system 190 to lift transport system 500. For example, α1 is the first box unit to be transferred to lift transport system 500, α2 is the second box unit to be transferred to lift transport system 500, etc. In addition, “x” in Equation 1 above may be changed to “y” or any other suitable substantially horizontal axis identifier along which the box unit is transferred (e.g., as an axis substantially transverse to the transfer axis of exit elevator 150B).

[0109] The feed rate I is achieved by one or more robots 110 in the corresponding asynchronous layer transport system 191 of the multi-layer transport system 190. (x，z)α(t). For example, the task allocation / assignment of robot 110 can be optimized in a manner substantially similar to that described in U.S. Patent No. 9,733,638, granted August 15, 2017, the disclosure of which is incorporated herein by reference in its entirety. As described above, one or more of the component controllers 120S1-120Sn can manage the operation of robot 110 of the corresponding asynchronous layer transport system 191. Component controllers 120S1-120Sn may have a controller hierarchy in which upper-level component controllers generate commands to cause lower-level controllers (e.g., controller 110C of robot 110) to perform actions that implement the tasks assigned to the corresponding upper-level component controllers. As an example, one or more of the component controllers 120S1-120Sn can independently determine the assignment of robot 110, which will process and move box units corresponding to the tasks assigned to one or more of the component controllers 120S1-120Sn. One or more of the component controllers 120S1-120Sn may also use model predictive control in determining the assignment for robot 110. Therefore, one or more of the component controllers 120S1-120Sn can be configured to solve the routing problem of robot 110 and can solve traffic management and routing destinations to provide an optimal solution for robot 110 task allocation. One or more of the component controllers 120S1-120Sn can select the optimal robot 110 from a plurality of selectable robots 110 in the corresponding asynchronous layer transport system 191 and generate robot-to-task assignments. The assignment of one or more of the component controllers 120S1-120Sn to robot 110 (or robot controller 110C) can determine the destination (e.g., the selected storage location based on the ordered bin unit of the task assignment) and the path for moving robot 110 from its original or initial position on layer 130L to the assigned destination. In one aspect, the path can be along storage / pickup channel 130A ( Figure 1A Arrange storage locations / spaces 130S ( Figure 1A The storage / retrieval channel can be accessed via transfer deck 130B. Figure 1AInterconnected, thereby providing essentially switchable or nondeterministic travel surfaces (or, in other respects, deterministic travel surfaces), as described herein. Thus, multiple paths are available for robot 110 to use to advance from its origin (at task assignment) to its destination. Within a predetermined time period, one or more of the component controllers 120S1-120Sn can select the optimal path for a given robot 110 and can resolve rover assignment and path transfer issues in a coordinated manner for all robots 110 of the corresponding asynchronous layer transport system 191. Therefore, the assignment (destination and path) of each robot 110 can be optimized within the predetermined time period (e.g., time range), and the controller solution can be dynamically updated within desired time segments of the predetermined time period to account for changing conditions, objectives, resources, and parameters of the multi-layer transport system 190.

[0110] In various aspects of the disclosed embodiments described herein, the upper ordered sequence 171S of the mixing box (which is strongly correlated with the predetermined box output ordered sequence 172 (Ω(t)) of the mixing box) can be at the output rate (R) of the lifting transport system 500. Ω The output (t) is defined as:

[0111]

[0112] Within any given time period (e.g., range), where Ω1 to Ωn represent the ordinate bins in a time-ordered sequence of bins output from the elevator transport system 500 at common output 300. For example, Ω1 is the first bin to be output from the elevator transport system 500, Ω2 is the second bin to be output from the elevator transport system 500, and so on. Here, the output rate R of the elevator transport system 500... Ω (t) is essentially equal to or greater than the transaction rate of a high-speed pallet builder (e.g., a palletizer with 160PB) that operates at more than 500 transfers per hour on pallets and more than 1,000 transfers in one aspect.

[0113] Moreover, in various aspects of the disclosed embodiments, Z x (t) represents the aggregated linearized flow of boxes processed by the lifting transport system 500 (e.g., the lift axis feed rate). For example, the box unit flow through the lifting transport system can be a channelized multi-stream flow, where each lift axis 150X1-150Xn is along the X (or Y) axis (e.g., in the reference coordinate system of the storage and retrieval system 100—see example). Figure 3 , Figure 4A , Figure 7The arrangement (e.g., elevator axes 150X1-150Xn forming horizontally deployed elevator axis units) outputs multi-flow streams (e.g., Z-axis streams of box units), wherein the output of each stream is aggregated with at least one other Z-axis stream of another elevator axis 150X1-150Xn via the common output 300 of the elevator transport system 500 and channelized into a linear stream of the box unit (e.g., (Ω(t)) representing the superior ordered sequence 171S of the mixed box). Again, note the term Z... x The “x” in (t) can be changed to “y” or any other suitable substantially horizontal axis identifier along which the box unit is transferred (e.g., as an axis substantially transverse to the transfer axis of the exit elevator 150B). For example, Figure 3 (Regarding public output 300') Figure 4A and Figure 4B (As seen in the separate flows from the corresponding transverse elements 550 arranged in parallel) the Z-axis flows can converge along parallel paths to a common output 300; and / or in other respects, such as... Figure 3 (Regarding the horizontal piece 550) Figure 4B (Regarding the aggregation of box units on each of the transverse components 550) Figure 5A , Figure 6A and Figure 6B As seen in the diagram, the Z-axis flow can converge to a common output 300 along a common path.

[0114] Elevator axis feed rate Z x (t) can be the output rate R of the lifting and transport system 500. Ω (t) is essentially the same, essentially constant feed rate. In some aspects, this can be achieved through one or more bypass switches δ1-δn (see, for example...). Figure 7 δ1, δ2, and δ3 (however, any suitable number of bypass switches can be provided) are used to achieve the elevator shaft feed rate Z. x (t), where

[0115]

[0116] And δ(t) is the bypass switching rate over any given time period (e.g., range), where α(t) is not equal to Ω(t). The output rate R of the lifting transport system 500 Ω (t) can be the time-optimal output rate, where each elevator axis 150X1-150Xn picks up box units from each floor 130L in order of box unit availability (e.g., box unit availability is determined by the feed rate I). (x，z)α(t) is achieved by the lower ordered sequence 170(α(t)) of the mixing box, where the order in which the box elements are picked is disconnected from the upper ordered sequence 171S(Ω(t)) of the mixing box.

[0117] Still referencing Figure 7 As described above, the lifting and transport system includes one or more bypass switches δ1-δn. As will be described below, in one aspect, the one or more bypass switches δ1-δn can be implemented individually using the lift shafts 150X1-150Xn (e.g., the lift transport rate LRT is substantially equal to the bypass δ). j —See example in example Figure 7 In the case of switch δ2, α4 will precede α3 in the upper ordered sequence 171S(Ω(t)) of the mixing box in the order of Ω3, Ω4, etc. In another aspect, the one or more bypass switches δ1-δn can be implemented using the elevator shafts 150X1-150Xn and the cross member 550 (e.g., the elevator transfer rate LRT and the cross member travel or swap time are substantially equal to the bypass δ). j —See example in example Figure 7 In the case of switch δ1, where α2 precedes α1 in the superior ordered sequence 171S(Ω(t)) of the mixing box in the order of Ω1, Ω2, etc., one or more bypass switches δ1-δn can be implemented using elevator axes 150X1-150Xn and elevator pick-up and place components (e.g., the elevator transfer rate LRT and pick-up and place transaction rate TRT are substantially equal to the bypass δ). j —See example in example Figure 7A (Switches δ4-δ6 in the middle). In another aspect, the one or more bypass switches δ1-δn can be implemented using the elevator shafts 150X1-150Xn, the elevator pick-up and place components, and the cross-traverse component 550 (e.g., the elevator transfer rate LRT, the pick-up and place transaction rate TRT, and the cross-traverse component travel or exchange time are substantially equal to the bypass δ). j —See example in example Figure 7 In the switch δ1, where α6 will precede α5 in the upper ordered sequence 171S(Ω(t)) of the mixed boxes in the order of Ω5, Ω6, etc., during the pick-up and placement operations on the elevator axis 150X1-150Xn, the box unit moves along the common elevator axis (e.g., Figure 10 (As shown) or picked up from one station 556 on crossbeam 550 and placed at another station 556, and / or picked up from one crossbeam 550A and placed at another crossbeam 550B (e.g., increasing the transfer time of one bin, thereby allowing other bins to be output with higher priority). See also Figure 7AIn one aspect, the elevator 150 (shown as elevator 150X1 for illustrative purposes only) may be configured to extend bidirectionally along direction 4050 for picking up and placing box units to opposite sides of the elevator 150X1. For example, the elevator 150X1 may have a first side where feed stations 556A-556C are located and an opposite side where feed stations 556D-556F are located. The elevator load handling device LHD is configured to extend bidirectionally along direction 4050 for accessing each feed station 556A-556F. Here, a bypass switch δ4 formed by the at least one elevator axis traverses the elevator axis from one side to the other (e.g., box units are transferred between opposite feed stations (such as feed stations 556A, 556D on common floor 130L1)). Here, the bypass switch δ4 exchanges boxes side-to-side on the common floor. In another aspect, a bypass switch δ5 formed by the at least one elevator axis traverses the elevator axis from one side to the other and has a bypass path portion extending along the elevator axis and a floor travel portion extending in the plane of the respective floor (e.g., a box unit is transferred between opposing feed stations (e.g., feed stations 556B, 556D on different floors 130L1, 130L2)). Here, the bypass switch δ5 exchanges boxes side-to-side on different floors. In yet another aspect, a bypass switch δ6 formed by the at least one elevator axis has at least a bypass path portion extending along the elevator axis and a floor travel portion (e.g., a box unit is transferred between feed stations (e.g., feed stations 556D, 556F on the common side of elevator axis 150X1)). Here, the bypass switch δ6 exchanges boxes to different floors on the same side of the elevator axis (as can be appreciated, bidirectional extension capability is not necessary to realize the bypass switch δ6). In other respects, switches δ1-δn can be used in any suitable combination to prioritize the output of the box unit. One or more bypass switches δ1-δn provide a Z-axis flow path for the box unit to the corresponding lift shafts 150X1-150Xn, wherein, as will be described herein, this path is implemented solely using the corresponding lift shaft 150X1-150Xn or using the corresponding lift shaft 150X1-150Xn and the cross member 550. The one or more bypass switches δ1-δn operate to maintain the time-optimal output rate R of the lifting transport system 500. Ω(t). For example, in a manner similar to that described above with respect to robot 110, one or more of the component controllers 120S1-120Sn can manage the operation of the elevator axes 150X1-150Xn of the corresponding lifting transport system 500. Component controllers 120S1-120Sn may have a controller hierarchy, wherein upper-level component controllers generate commands to cause lower-level controllers (e.g., controller 150CNT such as elevator 150B) to perform actions to fulfill the tasks assigned to the corresponding upper-level component controller. As an example, one or more of the component controllers 120S1-120Sn can independently determine the assignment of elevator axes 150X1-150Xn, which will process and move box units corresponding to the tasks assigned to one or more of the component controllers 120S1-120Sn. One or more of the component controllers 120S1-120Sn can also use model predictive control to determine the assignment for the elevator shafts 150X1-150Xn. Therefore, one or more of the component controllers 120S1-120Sn can be configured to solve the box unit transportation problem from the common feed interface 555 frame 777 to the common output 300 as described above, for reordering box units from the lower ordered sequence 170(α(t)) of the mixed box to the upper ordered sequence 171S(Ω(t)) of the mixed box. Thus, one or more of the component controllers 120S1-120Sn can solve box unit flow management via the elevator shafts 150X1-150Xn with one or more bypass switches δ1-δn, and transport box units along the path via the elevator transport system 500 to provide an optimal solution for task allocation of the elevator shafts 150X1-150Xn. The assignment of one or more of the component controllers 120S1-120Sn to the elevator shafts 150X1-150Xn (or elevator controller 150CNT) can determine the destination (e.g., another floor 130L on the same or different elevator shafts or a temporary storage location on the cross member 550) and, as a result, the path for moving the box unit from its original or initial position on the feed interface 555 frame 777 to the assigned temporary storage location and / or common output 300.

[0118] In one aspect, temporary storage locations on different levels 130L of different lift shafts 150X1-150X, implemented via the one or more bypass switches δ1-δn, can provide multiple container unit transfer paths from their original locations (at task assignment) to the common output 300. Within a predetermined time period, one or more of the component controllers 120S1-120Sn can select the optimal path for a given container unit and can resolve lift shaft assignment and path transfer in a coordinated manner for all lift shafts 150X1-150Xn of the corresponding lift transport system 500. Therefore, the assignment (container unit destination and path) of each lift shaft 150X1-150Xn can be optimized within the predetermined time period (e.g., time range), and the controller solution can be dynamically updated within desired time segments of the predetermined time period to account for changing conditions, objectives, resources, and parameters of the lift transport system 500. Here, each exit elevator 150B (e.g., independent elevator axes 150X1-150Xn) picks up box units from each floor 130L in a manner disconnected from the final predetermined box output ordered sequence, which is substantially the same as the superior ordered sequence 171S(Ω(t)) of the mixed box. Thus, each exit elevator 150B (e.g., independent elevator axes 150X1-150Xn) freely picks up box units from each floor in the order in which they become available.

[0119] As an illustrative example, Figure 7 An exemplary lifting and transport system 500 is shown, having two lift axes 150X1, 150X2 spaced apart from each other along, for example, the X (or Y) axis of a storage and retrieval system 100. Figure 7 In the middle, the box unit is fed at a feed rate I with the lower-order sequence 170(α(t)) of the mixing box. (x，z)α (t) is supplied to the feed interface 555 frame 777 on different layers 130L. For example, it can be... Figure 7As seen in the diagram, in the upper-level ordered sequence 171S(Ω(t)), the vertical coordinate box unit 2 (Ω2) is the first box unit that reaches the feed interface 555 frame 777 at the elevator axis 150X2. The vertical coordinate box unit 1 (Ω1) in the upper-level ordered sequence 171S(Ω(t)) is the second box unit that reaches the feed interface 555 frame 777 at the elevator axis 150X1. The vertical coordinate box unit 5 (Ω5) in the upper-level ordered sequence 171S(Ω(t)) is the third box unit that reaches the feed interface 555 frame 777 at the elevator axis 150X1. The vertical coordinate box unit 3 (Ω3) in the upper-level ordered sequence 171S(Ω(t)) is the fourth box unit that reaches the feed interface 555 frame 777 at the elevator axis 150X2. The vertical coordinate box unit 4 (Ω4) in the upper ordered sequence 171S(Ω(t)) of the mixing box is the fifth box unit that reaches the feed interface 555 frame 777 at the elevator axis 150X1. Figure 7 The arrival sequence of the container units illustrated is not limited to five container units (there may be more or fewer than five), and the arrival order of the container units is merely exemplary (the container units can arrive in any order and at any elevator axis).

[0120] As described herein, the lift axes 150X1 and 150X2 and / or the crossbar 550 are controlled to transfer box units Ω1-Ωn to the common output 600 in the upper ordered sequence 171S(Ω(t)) of the mixed box. As will be described in more detail herein, the one or more bypass switches δ1-δn and / or the crossbar 550 can be used to temporarily store or buffer one or more of the box units Ω1-Ωn at different locations in the lift transport system 500 instead of their respective original locations to achieve reordering of the box units to the upper ordered sequence 171S(Ω(t)) of the mixed box. In one aspect, the crossbar 550 can be bidirectional to buffer the box units using the one or more bypass switches δ1-δn. In one aspect, the crossbar 550 may include dual transport paths 550A, 550B (…). Figure 7 The dual transport paths (e.g., dual cross-sections) 550A, 550B provide for the travel of the container units in opposite directions along the X (or Y) axis to achieve buffering of the container units Ω1-Ωn along any lift axis 150X1-150Xn of the lifting transport system 500 and / or buffering of the container units on the cross-section 550 itself, while providing substantially uninterrupted transport of the container units Ω1-Ωn to the common output 300. In one aspect, the dual transport paths 550A, 550B may be vertically offset from each other or arranged in a common (e.g., the same) vertical plane.

[0121] Figure 8 and Figures 8A-8C The illustration shows an example of sorting multiple elevator boxes. Figure 8 represent Figures 8A-8C The diagram illustrates the transfer of box units from different layers 130L (layers 1 to n) of the common feed interface 555 frame 777 formed by elevator axes 150X1-150Xn in a two-dimensional plane. For illustrative purposes only, the box units transferred to the common output 300 are at least box units C1-C4 (which may also be referred to as Ω1-Ω4). Box units labeled FL have not yet been transferred by occupying elevator axis transfer positions at the corresponding layers 130L. Here, elevator axes 150X1-150Xn transfer box units to the transverse member 550, such that the box units are in the order C1, C2, C3, C4 corresponding to the superior ordered sequence 171S of the mixed box. As described above, the transfer of the box unit from the corresponding elevator shaft 150X1-150Xn to the transverse member 550 can be carried out along a parallel transport path arranged between the elevator shaft 150X1 and the transverse member 550, and / or the box unit can be placed on the transverse member 550 via the corresponding elevator shaft 150X1-150Xn.

[0122] exist Figures 8A-8C In this illustration, four independent lifting axes 150X1-150X4 are shown for illustrative purposes only; however, in other respects, any suitable number of independent lifting axes may be used. Furthermore, the reordering of the mixed containers will be described with respect to containers C1-C5; however, in other respects, any suitable number of containers may be reordered and output from the lifting transport system 500. Here, the ordinate of each container C1-C5 is in the predetermined ordered sequence 172 of the mixed container output. Figure 1A The sequence is unique within the sequence, with examples being C1, C2, C3, C4, C5, and therefore is the superior ordered sequence 171S of the mixing box at the common output 300 of the lifting transport system 500. Figure 1A Within; however, each distinct unique box ordinate may include one or more boxes, one or more of which may be boxes shared by other distinct box ordinates.

[0123] As described herein, the more than one independent elevator axes 150X1-150Xn (150X1-150X4 in this example) have a configuration that is reordered in flight (or in motion) such that, regardless of the input to the elevator transport system 500, the ordered sequence of the output is improved (e.g., a superior change in the order of the mixing boxes compared to the lower-order sequence 170 of the mixing boxes input to the elevator transport system 500), and thus the output of the elevator transport system 500 is decoupled from the input of the elevator transport system 500. Therefore, the elevator transport system 500 is configured to decouple robot(s)110 from the specific box(s) transfer to elevators 150B1-150B4.

[0124] Here, the robot 110 of the corresponding asynchronous layer transport system 191 inputs the mixed box units into the lifting transport system 500 in a lower-order sequence 170 of the mixed box. Figure 9 (800), such as by placing box units C1-C5 on, for example, transfer shelves TS in any suitable manner and in any suitable order, as described herein. For example, box C2 is placed on layer 130L4 at the transfer station corresponding to elevator axis 150X1; box C1 is placed on layer 130L3 at the transfer station corresponding to elevator axis 150X2; box C5 is placed on layer 130L3 at the transfer station corresponding to elevator axis 150X3; box C4 is placed on layer 130L1 at the transfer station corresponding to elevator axis 150X2; and box C3 is placed on layer 130L4 at the transfer station corresponding to elevator axis 150X4. According to the box output ordered sequence 172 of the mixed box, one or more elevator axes 150X1-150X4 transfer and reorder the input mixed box units to the common output 300 in the upper ordered sequence 171S of the mixed box. Figure 9 (See box 810). In this example, elevator axis 150X2 transfers box C1 from transfer station TS on floor 130L3 to cross-section 550. Elevator axis 150X1 transfers box C2 from transfer station TS on floor 130L4 to cross-section 550, where box units C1 and C2 are placed on and travel along cross-section 550 in an ordered sequence C1, C2 (see box 810). Figure 8B Elevator axis 150X4 transfers box C3 from transfer station TS on floor 130L4 to traversing component 550, so that box C3 follows box C2 in an ordered sequence. Elevator axis 150X2 transfers box C4 from transfer station TS on floor 130L1 to traversing component 550, so that box C4 follows box C3; and elevator axis 150X3 transfers box C5 from transfer station TS on floor 130L3 to traversing component 550, so that box C5 follows box C4 (see...). Figure 8C As can be appreciated, for any suitable number of boxes, box transfer and reordering can be continued using one or more elevator axes, thereby delivering boxes to the common output 300 with an upper ordered sequence 171 of mixed boxes, which has an improved sequence order (relative to the box output ordered sequence 172 of the mixed boxes) when compared with the lower ordered sequence 170 of the mixed boxes.

[0125] Figure 10 and Figures 10A-10C Another example of multi-lift box sorting is illustrated. Figure 10 represent Figures 10A-10C The diagram illustrates the transfer of box units from different layers 130L (layers 1 to n) of a common feed interface 555 frame 777 formed by elevator axes 150X1-150Xn in a two-dimensional plane. Box buffering is performed between storage layers 130L via one or more elevator axes 150X1-150Xn, allowing mixed boxes output from the elevator transport system 500 to be reordered and transported to the common output 300. Here, at least one elevator axis 150X1-150Xn defines elevator axis branching or bypass paths that classify (e.g., temporarily store) box units onto different transfer / buffer shelves or suitable conveyors to improve the ordered sequence of boxes output from the elevator transport system 500.

[0126] exist Figure 10 In the diagram, and for illustrative purposes only, the cabinet units transferred to common output 300 are at least cabinet units C1-C4 (which may also be referred to as Ω1-Ω4). The cabinet unit marked FL has not yet been transferred by occupying the elevator axis transfer position at the corresponding floor 130L. (As can be seen...) Figure 10As seen above, box unit C3 and box unit C1 arrive at the common feed interface 555 frame 777 on the same floor 130L (e.g., floor n) and at the same elevator axis 150X2. Here, box unit C3 arrives in front of box unit C1; however, in the ordered sequence of boxes output from the elevator transport system 500, box unit C1 is located in front of box unit C3. Here, the elevator axis 150X2 is controlled to remove box unit C3 from floor n and place box unit C3 along the elevator axis 150X2 at an empty storage location at floor 2, making box unit C1 accessible. As described above, the elevator axes 150X1-150Xn are controlled to transfer box units C1-C4 to the common output, such that the box units are in a mixed box upper ordered sequence 171 at the common output 300. Furthermore, the transfer of the container unit from the corresponding elevator shaft 150X1-150Xn to the transverse member 550 can be carried out along a parallel transport path arranged between the elevator shaft 150X1 and the transverse member 550, and / or the container unit can be placed on the transverse member 550 via the corresponding elevator shaft 150X1-150Xn.

[0127] exist Figures 10A-10C In the example illustrated, the container unit is transported and input into the lifting transport system 500 in a manner substantially similar to that described above. Figure 11 (Frame 1000). Here, at the transfer station TS corresponding to elevator axis 150X1, box C4 is placed on floor 130L1; at the transfer station TS corresponding to elevator axis 150X2, box C5 is placed on floor 130L4; at the transfer station TS corresponding to elevator axis 150X3, box C2 is placed on floor 130L3; and at the transfer station TS corresponding to elevator axis 150X4, box C3 is placed on floor 130L2. In this example, at the buffer station BS corresponding to elevator axis 150X2, box C1 is input into the elevator transport system 500 on floor 130L4 behind box C5, where box C5 prevents box C1 from being placed on the cross member 550.

[0128] Cargo container C5 is moved via elevator axis 150X2 to transfer station TS / buffer station BS or conveyor on another floor corresponding to elevator axis 150X2 (in this example, cargo container C5 is graded to floor 130L3 – see [link]). Figure 10B This causes "holes" to be "formed" in the lower ordered sequence 170 of the mixing bins input to the lifting transport system 500, and makes one or more higher longitudinal coordinate bins (in this example, bin C1) in the upper ordered sequence 171S of the mixing bins accessible to the corresponding lifting axis 150X2. Figure 11(Frame 1010). With box C5 graded onto level 130L3, elevator shaft 150X2 can remove box C1 from transfer shelf TS or buffer shelf BS on level 130L4 and transfer / reorder box C1 to cross section 550 ( Figure 10B ; Figure 11 (Box 1020). In a manner similar to that described above, box units C2-C5 are reordered and transferred via their respective lifting axes 150X1-150X4 in the superior ordered sequence 171S of the mixed box to the transverse piece 550, to the common output 300. Figure 11 (Box 1020).

[0129] Figure 12 and Figures 12A-12C Another example of multi-lift box sorting is illustrated. Figure 12 represent Figures 12A-12C The diagram illustrates the transfer of bin units from different layers 130L (layers 1 to n) of a common feed interface 555 frame 777 formed by elevator axes 150X1-150Xn in a two-dimensional plane. Bin buffering occurs between elevator axes 150X1-150Xn and between storage layers 130L, allowing mixed bins output from the elevator transport system 500 to be reordered and transported to the common output 300. In this example, the traverse 550 provides elevator axis diversion or bypass, where bins(one or more) are transported along the traverse 550 to open elevator axis positions and graded to any elevator layer (via the corresponding elevator axis) to improve the output sequence of mixed bins from the elevator transport system 500. In a manner similar to that described above, at least one lift axis 150X1-150Xn may also define lift axis diversion or lift axis bypass paths, which classify the box units onto different transfer / buffer shelves or suitable conveyors to improve the ordered sequence of boxes output from the lift transport system 500.

[0130] exist Figure 12 In the diagram, and for illustrative purposes only, the cabinet units transferred to common output 300 are at least cabinet units C1-C4 (which may also be referred to as Ω1-Ω4). The cabinet unit marked FL has not yet been transferred by occupying the elevator axis transfer position at the corresponding floor 130L. (As can be seen...) Figure 12As seen, box unit C3 and box unit C1 arrive at the common feed interface 555 frame 777 on the same floor 130L (e.g., floor n) and at the same elevator axis 150X2. Here, box unit C3 arrives in front of box unit C1; however, in the ordered sequence of boxes output from the lifting transport system 500, box unit C1 is located in front of box unit C3. The elevator axis 150X2 is controlled to remove box unit C3 from floor n and place box unit C3 on the cross member 550 for transfer to the elevator axis 150X1, making box unit C1 accessible. The elevator axis 150X1 is controlled to remove box unit C3 from the cross member 550 and place box unit C3 along the elevator axis 150X1 at an empty storage location on floor 2. As described above, the elevator shafts 150X1-150Xn are controlled to transfer box units C1-C4 to the common output, such that the box units are in a mixed box upper-order sequence 171 at the common output 300. Again, the transfer of box units from the respective elevator shafts 150X1-150Xn to the transverse member 550 can be carried out along a parallel transport path disposed between the elevator shaft 150X1 and the transverse member 550, and / or the box units can be placed on the transverse member 550 via the respective elevator shafts 150X1-150Xn.

[0131] exist Figures 12A-12C In the example illustrated, the container unit is transported and input into the lifting transport system 500 in a manner substantially similar to that described above. Figure 13 (Frame 12000). Here, box C4 is placed on floor 130L1 at transfer station TS corresponding to elevator axis 150X1; box C5 is placed on floor 130L4 at transfer station TS corresponding to elevator axis 150X2; box C2 is placed on floor 130L1 at transfer station TS corresponding to elevator axis 150X2; box C1 is placed on floor 130L5 at transfer station TS corresponding to elevator axis 150X3; and box C3 is placed on floor 130L3 at transfer station TS corresponding to elevator axis 150X4. In this example, one or more box units are transferred to the traversing member 550 via one or more elevator axes 150X1-150Xn for transfer to another elevator axis 150X1-150Xn and graded along it. Figure 13 (Frame 12100). For example, elevator axis 150X2 picks up box C5 from transfer station TS on floor 130L4 and places box C5 on crossbeam 550. Crossbeam 550 transports box C5 to any other suitable elevator axis 150X1-150Xn for grading along the corresponding elevator axis 150X1-150Xn to improve the ordered sequence of boxes output from elevator transport system 500. Figure 12AFor illustrative purposes only, the transverse component 550 transports box C5 to the elevator axis 150X4, where the elevator axis 150X4 picks up box C5 from the transverse component 550 and grades box C5 to, for example, layer 130L2 of the elevator axis 150X4. Figure 12B In other respects, the box unit can be moved along the axis of the public elevator for use as described above. Figures 10A-10C The described method is used to classify ( Figure 13 (Frame 12200).

[0132] The bins (before or after hierarchical classification) are transferred and reordered to the common output using a hierarchically ordered sequence. Figure 13 (Frame 12300). For example, box C1 is transferred from floor 130L5 to transverse section 550 via elevator axis 150X3; and box C2 is transferred from floor 130L1 to transverse section 550 ( Figure 12B Box units C1 and C2 are placed on the transverse member 550 to form a superior ordered sequence 171S of mixed boxes. Box C3 is transferred from floor 130L3 along the elevator axis 150X4 for placement on the transverse member 550, and box C4 is transferred from floor 130L1 along the elevator axis 150X1 for placement on the transverse member 550, wherein, as described above, box units C3 and C4 are placed on the transverse member 550 to form a superior ordered sequence 171S of mixed boxes. After box C4, box C5 is transferred from floor 130L2 along the elevator axis 150X4 for placement on the transverse member 550.

[0133] Now for reference Figure 1A and Figure 15 An exemplary product order fulfillment method will be described. A multi-level transportation system 190 is provided. Figure 15 (frame 15000), wherein, as described above, each of its layers 130L has a corresponding independent asynchronous layer transport system 191 for the mixed container, which is separate and different from the asynchronous layer transport system 191 corresponding to each other layer 130L of the multi-layer transport system 190. A lifting transport system 500 is provided. Figure 15 (frame 15005), and as described above, the lifting and transport system includes more than one independent lifting axis 150X1-150Xn. Using the more than one independent lifting axis 150X1-150Xn, an ordered sequence of mixing boxes is formed according to a predetermined box output ordered sequence 172. Figure 15(frame 15010), wherein each independent elevator axis 150X1-150Xn is communicatively connected to each of the more than one elevator axis 150X1-150Xn and forms a common output 300 of the mixing bins output by each of the more than one independent elevator axes 150X1-150Xn. When forming the ordered sequence 171 of the mixing bins, as described above, the mixing bins are reordered, thereby utilizing the elevator transport system 500 to achieve a change from the ordered sequence of the mixing bins at the feed of the elevator transport system 500 to the superior ordered sequence 171S of the mixing bins at the output of the elevator transport system 500 during flight or in motion.

[0134] The formation of the ordered sequence 171 of the mixing boxes may further include forming a bypass path as described above using the traversing member 550. In one aspect, forming the bypass path achieves at least partially a reordering from the lower ordered sequence 170 of the mixing boxes at the feed of the lifting transport system 500 to the upper ordered sequence 171S of the mixing boxes at the output of the lifting transport system, wherein the lower ordered sequence 170 and the upper ordered sequence 171S of the mixing boxes are, respectively, a lower order and a higher order in the sequence order relative to the predetermined box output ordered sequence 172 of the mixing boxes. In another aspect, forming the bypass path achieves at least partially a reordering from the lower ordered sequence 170 of the mixing boxes at the feed of the lifting transport system to the upper ordered sequence 171S of the mixing boxes at the output of the lifting transport system 500, wherein the lower ordered sequence 170 and the upper ordered sequence 171S of the mixing boxes are, respectively, a lower order and a higher order in the sequence order relative to the predetermined box output ordered sequence 172 of the mixing boxes.

[0135] Now for reference Figure 1A and Figure 16 An exemplary product order fulfillment method will be described. A multi-level transportation system 190 is provided. Figure 16 (frame 16000), wherein, as described above, each of its layers 130L has a corresponding independent asynchronous layer transport system 191 for the mixed container, which is separate and different from the asynchronous layer transport system 191 corresponding to each other layer 130L of the multi-layer transport system 190. A lifting transport system 500 is provided. Figure 16 (frame 16005), and as described above, the lifting and transport system includes more than one independent lifting axis 150X1-150Xn. A feed interface 555 is provided. Figure 16(frame 16010), and the feed interface communicatively connects the multi-level transport system to each of the more than one independent lift axis 150X1-150Xn, wherein, as described above, the feed interface 555 includes different feed stations 556 distributed at each asynchronous multi-level transport system 191 for each of the more than one independent lift axis 150X1-150Xn, such that each of the more than one independent lift axis 150X1-150Xn has a different corresponding feed station 556 at each asynchronous multi-level transport system 191, through which the mixing box is fed from the multi-level transport system 190 to each of the more than one independent lift axis 150X1-150Xn.

[0136] The mixing chamber is output substantially continuously via a common output 300 using more than one independent lifting shaft 150X1-150Xn. Figure 16 (Box 16015) so as to output a mixed box with a predetermined box output ordered sequence 172, which is disconnected from the available sequence 170 of the mixed box (which is formed at the feed interface 555 from and through the multi-level transport system 190 and fed through the feed interface 555 to the more than one independent elevator shaft 150X1-150Xn). In one aspect, outputting the mixed box includes: forming an elevator transport flow 999 of the mixed box from the feed interface 555 using the more than one independent elevator shaft 150X1-150Xn of the elevator transport system 500, as described above. When forming the elevator transport flow 999, as described above, the mixed boxes are reordered so that the elevator transport system 500 can realize the change from the ordered sequence of the mixed boxes at the feed of the elevator transport system 500 to the superior ordered sequence 171S of the mixed boxes at the output of the elevator transport system 500 during flight or in motion.

[0137] Forming the elevator transport flow 999 may further include forming a bypass path as described above using the traverse member 550. In one aspect, forming the bypass path achieves at least partially a reordering from a lower ordered sequence 170 of the mixing boxes at the feed of the elevator transport system 500 to a higher ordered sequence 171S of the mixing boxes at the output of the elevator transport system, wherein the lower ordered sequence 170 and the higher ordered sequence 171S of the mixing boxes are, respectively, a lower order and a higher order in the sequence order relative to the predetermined box output ordered sequence 172 of the mixing boxes. In another aspect, forming the bypass path achieves at least partially a reordering from a lower ordered sequence 170 of the mixing boxes at the feed of the elevator transport system to a higher ordered sequence 171S of the mixing boxes at the output of the elevator transport system 500, wherein the lower ordered sequence 170 and the higher ordered sequence 171S of the mixing boxes are, respectively, a lower order and a higher order in the sequence order relative to the predetermined box output ordered sequence 172 of the mixing boxes.

[0138] According to one or more aspects of the disclosed embodiments, a product order fulfillment system includes:

[0139] A multi-level transport system, each level having a corresponding independent asynchronous level transport system for mixed containers, wherein the independent asynchronous level transport system is separate and different from the asynchronous level transport systems corresponding to each other level of the multi-level transport system, the asynchronous level transport system defining an array corresponding to the asynchronous level transport axis of that level, and configured to maintain and asynchronously transport at least one container, thereby providing transport of mixed containers along the array of asynchronous level transport axes; and

[0140] A lifting transport system having more than one independent lifting axis, each of the more than one independent lifting axis being configured to independently hold the at least one container and reciprocate along the lifting travel axis to independently raise and lower the at least one container, thereby providing lifting transport of mixed containers between more than one level of a multi-level transport system, each independent lifting axis being communicatively connected to each asynchronous level transport system to provide exchange of the at least one container between each asynchronous level transport system and each independent lifting axis, and mixed containers transferred from at least one asynchronous level transport system being fed to each of the more than one independent lifting axis, such that mixed containers are output from the multi-level transport system via that independent lifting axis;

[0141] Each of the more than one lift axis is communicatively connected to each of the other more than one lift axis, forming a common output of a mixing box through the output of each of the more than one independent lift axes, and the more than one independent lift axis is configured to form an ordered sequence of mixing boxes at the common output and from the common output according to a predetermined box output order of the mixing box.

[0142] According to one or more aspects of the disclosed embodiments, the more than one independent elevator shaft forms an array of elevator shafts arranged in at least one direction.

[0143] According to one or more aspects of the disclosed embodiments, the more than one independent elevator axis forms an array of elevator axes arranged in more than one direction.

[0144] According to one or more aspects of the disclosed embodiments, the more than one independent elevator axis is configured to reorder the mixing bins and utilize the elevator transport system to achieve the following change in the ordered sequence of the mixing bins in motion: from a lower ordered sequence of mixing bins at the feed of the elevator transport system to a higher ordered sequence of mixing bins at the output of the elevator transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to the predetermined bin output ordered sequence.

[0145] According to one or more aspects of the disclosed embodiments, the superior ordered sequence is characterized in that the sequence order of its mixing bins converges with the predetermined bin output ordered sequence, such that there is a strong correlation between the corresponding sequence orders of the superior ordered sequence and the predetermined bin output ordered sequence, and wherein the inferior ordered sequence is characterized in that the sequence order of its mixing bins diverges from or is substantially neutral with respect to the predetermined bin output ordered sequence, such that there is a weak correlation between the corresponding sequence orders of the inferior ordered sequence and the predetermined bin output ordered sequence.

[0146] According to one or more aspects of the disclosed embodiments, a strong correlation is such that the sequence order is a near-net sequence order of the sequence order of the predetermined bin output ordered sequence of the mixing bin.

[0147] According to one or more aspects of the disclosed embodiments, each of the more than one independent elevator shaft is communicatively connected to an array of asynchronous layer transport shafts corresponding to each asynchronous layer transport shaft of each asynchronous layer transport system.

[0148] According to one or more aspects of the disclosed embodiments, each of the more than one independent lift axis has a corresponding output section and a cross section that operatively connects the corresponding output section of each of the more than one independent lift axis to a common output, such that a mixing box from each independent lift axis reaches the common output via the cross section.

[0149] According to one or more aspects of the disclosed embodiments, the ordered sequence of mixing boxes at the common output is formed on the transverse member and is substantially within the boundaries defined by the outermost independent lift axis of the lifting transport system.

[0150] According to one or more aspects of the disclosed embodiments, the transverse member enables at least two of the more than one independent elevator shafts to be operatively interconnected with each other.

[0151] According to one or more aspects of the disclosed embodiments, the traverse member is configured to form a bypass path for the mixed containers transported and output via the more than one independent lift axis of the lifting transport system, thereby enabling at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lifting transport system to a higher ordered sequence of mixed containers at the output of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0152] According to one or more aspects of the disclosed embodiments, at least one of the more than one independent lift shafts is configured to form a bypass path for a mixed container transported and output by the more than one independent lift shaft of the lift transport system, thereby realizing at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lift transport system to a higher ordered sequence of mixed containers at the output of the lift transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0153] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on the common floor of a multi-level transportation system.

[0154] According to one or more aspects of the disclosed embodiments, a bypass path exchanges a car from one side of the elevator axis to the other side of the elevator axis on a common floor.

[0155] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on different levels of the multi-level transport system.

[0156] According to one or more aspects of the disclosed embodiments, the bypass path has a bypass portion extending along the elevator axis and a plurality of bypass portions extending along corresponding planes of different floors.

[0157] According to one or more aspects of the disclosed embodiments, the bypass path exchanges the container from one side of the elevator axis to the other side of the elevator axis on different floors.

[0158] According to one or more aspects of the disclosed embodiments, the bypass path formed by the at least one independent elevator axis has at least a bypass portion extending along the elevator axis and has bypass portions extending along the respective planes of different floors on the same side of the elevator axis.

[0159] According to one or more aspects of the disclosed embodiments, the bypass path exchanges boxes between different floors on the same side of the elevator axis.

[0160] According to one or more aspects of the disclosed embodiments, the ordered sequence of mixed boxes output from the predetermined box output at the common output and the ordered sequence of mixed boxes formed from the common output are substantially continuous and are generated in accordance with at least one mixed box pallet layer of mixed boxes that are laterally distributed and stacked by the high-speed pallet builder.

[0161] According to one or more aspects of the disclosed embodiments, a product order fulfillment system includes:

[0162] A multi-level transport system, each level having a corresponding independent asynchronous level transport system for mixed containers, the independent asynchronous level transport system being separate and different from the asynchronous level transport systems corresponding to each other level of the multi-level transport system, the asynchronous level transport system defining an array of asynchronous level transport axes corresponding to that level, and being configured to maintain asynchronous transport of at least one container, thereby providing transport of mixed containers along the array of asynchronous level transport axes;

[0163] A lifting transport system having more than one independent lifting axis, each of the more than one independent lifting axis being configured to independently hold at least one container and reciprocate along a lifting travel axis to independently raise and lower the at least one container, each of the more than one independent lifting axis being communicatively connected to a common lifting transport output, and each of the more than one independent lifting axis collectively outputting a mixed container from the lifting transport system through the common lifting transport output; and

[0164] A feed interface communicatively connects the multi-level transport system to each of the more than one independent lift axis. The feed interface includes different feed stations distributed at each asynchronous multi-level transport system for each of the more than one independent lift axis, such that each of the more than one independent lift axis has a different corresponding feed station at each asynchronous multi-level transport system, through which the mixing box is fed from the multi-level transport system to each of the more than one independent lift axis.

[0165] The more than one independent elevator axis is configured to output a mixed box substantially continuously via a public elevator transport output in a predetermined box output ordered sequence, which is decoupled from the available sequence of the mixed box, which is formed at the feed interface from and fed to the more than one independent elevator axis via the multi-level transport system.

[0166] According to one or more aspects of the disclosed embodiments, the more than one independent elevator shaft forms an array of elevator shafts arranged in at least one direction.

[0167] According to one or more aspects of the disclosed embodiments, the more than one independent elevator axis forms an array of elevator axes arranged in more than one direction.

[0168] According to one or more aspects of the disclosed embodiments, the more than one independent elevator axis of the elevator transport system forms an elevator transport flow of mixed boxes from a feed interface (where the elevator transport flow has an available sequence of mixed boxes) to a common elevator transport output (where the elevator transport flow has a predetermined ordered sequence of box outputs), and at least one elevator axis from the more than one independent elevator axis defines a path relative to another of the more than one independent elevator axis, thereby enabling a reordering in flight from the available sequence of mixed boxes in the elevator transport flow to the predetermined ordered sequence of box outputs of the mixed boxes at the common elevator transport output.

[0169] According to one or more aspects of the disclosed embodiments, the more than one independent elevator axis is configured to reorder the mixing bins and utilize the elevator transport system to achieve the following change in the ordered sequence of the mixing bins in motion: from a lower ordered sequence of mixing bins at the feed of the elevator transport system to a higher ordered sequence of mixing bins at the output of the elevator transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to the predetermined bin output ordered sequence.

[0170] According to one or more aspects of the disclosed embodiments, the superior ordered sequence is characterized in that the sequence order of its mixing bins converges with the predetermined bin output ordered sequence, such that there is a strong correlation between the corresponding sequence orders of the superior ordered sequence and the predetermined bin output ordered sequence, and wherein the inferior ordered sequence is characterized in that the sequence order of its mixing bins diverges from or is substantially neutral with respect to the predetermined bin output ordered sequence, such that there is a weak correlation between the corresponding sequence orders of the inferior ordered sequence and the predetermined bin output ordered sequence.

[0171] According to one or more aspects of the disclosed embodiments, a strong correlation is such that the sequence order is a near-net sequence order of the sequence order of the predetermined bin output ordered sequence of the mixing bin.

[0172] According to one or more aspects of the disclosed embodiments, each of the more than one independent elevator shaft is communicatively connected to an array of asynchronous layer transport shafts corresponding to each asynchronous layer transport shaft of each asynchronous layer transport system.

[0173] According to one or more aspects of the disclosed embodiments, each of the more than one independent lift axis has a corresponding output section and a cross section that operatively connects the corresponding output section of each of the more than one independent lift axis to a common lift transport output, such that a mixing tank from each of the more than one independent lift axis reaches the common lift transport output via the cross section.

[0174] According to one or more aspects of the disclosed embodiments, the ordered sequence of mixed boxes at the public lift transport output is formed on the transverse member and is substantially within the boundaries defined by the outermost independent lift axis of the lift transport system.

[0175] According to one or more aspects of the disclosed embodiments, the transverse member enables at least two of the more than one independent elevator shafts to be operatively interconnected with each other.

[0176] According to one or more aspects of the disclosed embodiments, the traverse member is configured to form a bypass path for the mixed containers transported and output via the more than one independent lift axis of the lifting transport system, thereby enabling at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lifting transport system to a higher ordered sequence of mixed containers at the output of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0177] According to one or more aspects of the disclosed embodiments, at least one of the more than one independent lift shafts is configured to form a bypass path for a mixed container transported and output by the more than one independent lift shaft of the lift transport system, thereby realizing at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lift transport system to a higher ordered sequence of mixed containers at the output of the lift transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0178] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on the common floor of a multi-level transportation system.

[0179] According to one or more aspects of the disclosed embodiments, a bypass path exchanges a car from one side of the elevator axis to the other side of the elevator axis on a common floor.

[0180] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on different levels of the multi-level transport system.

[0181] According to one or more aspects of the disclosed embodiments, the bypass path has a bypass portion extending along the elevator axis and a plurality of bypass portions extending along corresponding planes of different floors.

[0182] According to one or more aspects of the disclosed embodiments, the bypass path exchanges the container from one side of the elevator axis to the other side of the elevator axis on different floors.

[0183] According to one or more aspects of the disclosed embodiments, the bypass path formed by the at least one independent elevator axis has at least a bypass portion extending along the elevator axis and has bypass portions extending along the respective planes of different floors on the same side of the elevator axis.

[0184] According to one or more aspects of the disclosed embodiments, a bypass path switching box.

[0185] According to one or more aspects of the disclosed embodiments, the ordered sequence of mixed boxes output from the public lift transport outlet and the ordered sequence of mixed boxes formed from the public lift transport outlet are substantially continuous and are generated in accordance with at least one layer of mixed box pallets of mixed boxes that are laterally distributed and stacked by the high-speed pallet builder.

[0186] According to one or more aspects of the disclosed embodiments, a product order fulfillment method includes:

[0187] A multi-level transport system is provided, each level of which has a corresponding independent asynchronous level transport system for mixed containers. This independent asynchronous level transport system is separate from and different from the asynchronous level transport systems corresponding to each other level of the multi-level transport system. The asynchronous level transport system defines an array of asynchronous level transport axes corresponding to that level and is configured to maintain asynchronous transport of at least one container, thereby providing transport of mixed containers along the array of asynchronous level transport axes.

[0188] A lifting transport system is provided having more than one independent lifting axis, each of the more than one independent lifting axis being configured to independently hold the at least one container and reciprocate along a lifting travel axis to independently raise and lower the at least one container, thereby providing lifting transport of mixed containers between more than one level of a multi-level transport system. Each independent lifting axis is communicatively coupled to each asynchronous level transport system to provide exchange of the at least one container between each asynchronous level transport system and each independent lifting axis, and mixed containers transferred from at least one asynchronous level transport system are fed to each of the more than one independent lifting axis, such that mixed containers are output from the multi-level transport system via that independent lifting axis; and

[0189] Using the more than one independent lift axis, an ordered sequence of mixed boxes is formed at a common output and from the common output according to a predetermined box output sequence of the mixed box, wherein each of the more than one independent lift axis is communicatively connected to each of the more than one independent lift axis and forms a common output of the mixed box through each of the more than one independent lift axis.

[0190] According to one or more aspects of the disclosed embodiments, the more than one independent elevator shaft forms an array of elevator shafts arranged in at least one direction.

[0191] According to one or more aspects of the disclosed embodiments, the more than one independent elevator axis forms an array of elevator axes arranged in more than one direction.

[0192] According to one or more aspects of the disclosed embodiments, the method further includes: reordering the mixing bins using the more than one independent elevator axis, and using the elevator transport system to change the ordered sequence of the mixing bins in motion as follows: from a lower ordered sequence of mixing bins at the feed of the elevator transport system to a higher ordered sequence of mixing bins at the output of the elevator transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to the predetermined bin output ordered sequence.

[0193] According to one or more aspects of the disclosed embodiments, the superior ordered sequence is characterized in that the sequence order of its mixing bins converges with the predetermined bin output ordered sequence, such that there is a strong correlation between the corresponding sequence orders of the superior ordered sequence and the predetermined bin output ordered sequence, and wherein the inferior ordered sequence is characterized in that the sequence order of its mixing bins diverges from or is substantially neutral with respect to the predetermined bin output ordered sequence, such that there is a weak correlation between the corresponding sequence orders of the inferior ordered sequence and the predetermined bin output ordered sequence.

[0194] According to one or more aspects of the disclosed embodiments, a strong correlation is such that the sequence order is a near-net sequence order of the sequence order of the predetermined bin output ordered sequence of the mixing bin.

[0195] According to one or more aspects of the disclosed embodiments, the method further includes: communicatively connecting each of the more than one independent elevator shaft to an array of asynchronous layer transport shafts corresponding to each asynchronous layer transport shaft of each asynchronous layer transport system.

[0196] According to one or more aspects of the disclosed embodiments, each of the more than one independent lift axis has a corresponding output section and a cross section that operatively connects the corresponding output section of each of the more than one independent lift axis to a common output, the method further comprising: using the cross section to transport a mixing container such that a mixing container from each independent lift axis reaches the common output via the cross section.

[0197] According to one or more aspects of the disclosed embodiments, the method further includes: forming an ordered sequence of mixing boxes at a common output on the transverse member, and the ordered sequence is substantially within a boundary defined by the outermost independent elevator axis of the lifting transport system.

[0198] According to one or more aspects of the disclosed embodiments, the method further includes: using a transverse member to operatively interconnect at least two of the more than one independent elevator shafts.

[0199] According to one or more aspects of the disclosed embodiments, the method further includes: using a traverse member to form a bypass path for transporting and outputting mixed containers via the more than one independent lift axis of the lifting transport system, thereby achieving at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lifting transport system to a higher ordered sequence of mixed containers at the output of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0200] According to one or more aspects of the disclosed embodiments, the method further includes: using at least one of the more than one independent lift shafts to form a bypass path for a mixed container transported and output by the more than one independent lift shaft of the lifting transport system, thereby realizing at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lifting transport system to a higher ordered sequence of mixed containers at the output of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0201] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on the common floor of a multi-level transportation system.

[0202] According to one or more aspects of the disclosed embodiments, a bypass path exchanges a car from one side of the elevator axis to the other side of the elevator axis on a common floor.

[0203] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on different levels of the multi-level transport system.

[0204] According to one or more aspects of the disclosed embodiments, the bypass path has a bypass portion extending along the elevator axis and a plurality of bypass portions extending along corresponding planes of different floors.

[0205] According to one or more aspects of the disclosed embodiments, the bypass path exchanges the container from one side of the elevator axis to the other side of the elevator axis on different floors.

[0206] According to one or more aspects of the disclosed embodiments, the bypass path formed by the at least one independent elevator axis has at least a bypass portion extending along the elevator axis and has bypass portions extending along the respective planes of different floors on the same side of the elevator axis.

[0207] According to one or more aspects of the disclosed embodiments, a bypass path switching box.

[0208] According to one or more aspects of the disclosed embodiments, the method further includes: generating an ordered sequence of mixed boxes substantially continuously and in accordance with at least one layer of mixed box pallets of laterally distributed and stacked mixed boxes constructed by a high-speed pallet builder, wherein the ordered sequence of mixed boxes is formed at and from a common output according to a predetermined box output ordered sequence of mixed boxes.

[0209] According to one or more aspects of the disclosed embodiments, a product order fulfillment method includes:

[0210] A multi-level transport system is provided, each level of which has a corresponding independent asynchronous level transport system for mixed containers. This independent asynchronous level transport system is separate from and different from the asynchronous level transport systems corresponding to each other level of the multi-level transport system. The asynchronous level transport system defines an array of asynchronous level transport axes corresponding to that level and is configured to maintain and asynchronously transport at least one container, thereby providing transport of mixed containers along the array of asynchronous level transport axes.

[0211] A lifting transport system is provided having more than one independent lifting axis, each of the more than one independent lifting axis being configured to independently hold the at least one container and reciprocate along the lifting travel axis to independently raise and lower the at least one container, each of the more than one independent lifting axis being communicatively connected to a common lifting transport output, and each of the more than one independent lifting axis collectively outputting a mixed container from the lifting transport system through the common lifting transport output;

[0212] A feed interface is provided that communicatively connects the multi-level transport system to each of the more than one independent lift axis. This feed interface includes different feed stations distributed at each asynchronous multi-level transport system for each of the more than one independent lift axis, such that each of the more than one independent lift axis has a different corresponding feed station at each asynchronous multi-level transport system, through which a mixing container is fed from the multi-level transport system to each of the more than one independent lift axis; and

[0213] Using the more than one independent elevator axis, a predetermined box output ordered sequence is output substantially continuously via a common elevator transport output, the predetermined box output ordered sequence being disconnected from the available sequence of the mixed boxes, the available sequence of the mixed boxes originating from and formed through the multi-level transport system at the feed interface and fed to the more than one independent elevator axis via the feed interface.

[0214] According to one or more aspects of the disclosed embodiments, the more than one independent elevator shaft forms an array of elevator shafts arranged in at least one direction.

[0215] According to one or more aspects of the disclosed embodiments, the more than one independent elevator axis forms an array of elevator axes arranged in more than one direction.

[0216] According to one or more aspects of the disclosed embodiments, the method further includes: forming an elevator transport flow of mixed boxes from a feed interface (where the elevator transport flow has an available sequence of mixed boxes) to a common elevator transport output (where the elevator transport flow has a predetermined ordered sequence of box outputs) using more than one independent elevator axis of the elevator transport system, and at least one elevator axis from the more than one independent elevator axis defines a path relative to another of the more than one independent elevator axis, thereby enabling in-flight reordering of the available sequence of mixed boxes in the elevator transport flow to the predetermined ordered sequence of box outputs of the mixed boxes at the common elevator transport output.

[0217] According to one or more aspects of the disclosed embodiments, the method further includes: reordering the mixing bins using the more than one independent elevator axis, and using the elevator transport system to change the ordered sequence of the mixing bins in motion as follows: from a lower ordered sequence of mixing bins at the feed of the elevator transport system to a higher ordered sequence of mixing bins at the output of the elevator transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to the predetermined bin output ordered sequence.

[0218] According to one or more aspects of the disclosed embodiments, the superior ordered sequence is characterized in that the sequence order of its mixing bins converges with the predetermined bin output ordered sequence, such that there is a strong correlation between the corresponding sequence orders of the superior ordered sequence and the predetermined bin output ordered sequence, and wherein the inferior ordered sequence is characterized in that the sequence order of its mixing bins diverges from or is substantially neutral with respect to the predetermined bin output ordered sequence, such that there is a weak correlation between the corresponding sequence orders of the inferior ordered sequence and the predetermined bin output ordered sequence.

[0219] According to one or more aspects of the disclosed embodiments, a strong correlation is such that the sequence order is a near-net sequence order of the sequence order of the predetermined bin output ordered sequence of the mixing bin.

[0220] According to one or more aspects of the disclosed embodiments, the method further includes: communicatively connecting each of the more than one independent elevator shaft to an array of asynchronous layer transport shafts corresponding to each asynchronous layer transport shaft of each asynchronous layer transport system.

[0221] According to one or more aspects of the disclosed embodiments, each of the more than one independent lift axis has a corresponding output section and a cross section that operatively connects the corresponding output section of each of the more than one independent lift axis to a common lift transport output, the method further comprising: transporting a mixing container using the cross section such that a mixing container from each of the more than one independent lift axis reaches the common lift transport output via the cross section.

[0222] According to one or more aspects of the disclosed embodiments, the method further includes: forming an ordered sequence of mixing boxes at a common lift transport output on a transverse member, and the ordered sequence is substantially within a boundary defined by the outermost individual lift axis of the lift transport system.

[0223] According to one or more aspects of the disclosed embodiments, the method further includes: using a transverse member to operatively interconnect at least two of the more than one independent elevator shafts.

[0224] According to one or more aspects of the disclosed embodiments, the method further includes: using a traverse member to form a bypass path for transporting and outputting mixed containers via the more than one independent lift axis of the lifting transport system, thereby achieving at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lifting transport system to a higher ordered sequence of mixed containers at the output of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0225] According to one or more aspects of the disclosed embodiments, the method further includes: using at least one of the more than one independent lift shafts to form a bypass path for a mixed container transported and output by the more than one independent lift shaft of the lifting transport system, thereby realizing at least partially a reordering from a lower ordered sequence of mixed containers at the feed of the lifting transport system to a higher ordered sequence of mixed containers at the output of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to a predetermined box output ordered sequence of the mixed containers.

[0226] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on the common floor of a multi-level transportation system.

[0227] According to one or more aspects of the disclosed embodiments, a bypass path exchanges a car from one side of the elevator axis to the other side of the elevator axis on a common floor.

[0228] According to one or more aspects of the disclosed embodiments, a bypass path formed by the at least one independent elevator axis traverses the elevator axis from one side to the other on different levels of the multi-level transport system.

[0229] According to one or more aspects of the disclosed embodiments, the bypass path has a bypass portion extending along the elevator axis and a plurality of bypass portions extending along corresponding planes of different floors.

[0230] According to one or more aspects of the disclosed embodiments, the bypass path exchanges the container from one side of the elevator axis to the other side of the elevator axis on different floors.

[0231] According to one or more aspects of the disclosed embodiments, the bypass path formed by the at least one independent elevator axis has at least a bypass portion extending along the elevator axis and has bypass portions extending along the respective planes of different floors on the same side of the elevator axis.

[0232] According to one or more aspects of the disclosed embodiments, a bypass path switching box.

[0233] According to one or more aspects of the disclosed embodiments, the method further includes: generating an ordered sequence of mixed boxes substantially continuously and in accordance with at least one layer of mixed box pallets of laterally distributed and stacked mixed boxes constructed by a high-speed pallet builder, wherein the ordered sequence of mixed boxes is formed at and from a common lift transport output according to a predetermined box output ordered sequence of mixed boxes.

[0234] It should be understood that the foregoing description merely illustrates aspects of the disclosed embodiments. Various alternatives and modifications can be devised by those skilled in the art without departing from the aspects of the disclosed embodiments. Therefore, the aspects of the disclosed embodiments are intended to cover all such alternatives, modifications, and variations falling within the scope of the appended claims. Furthermore, the undisputed fact that different features are described in mutually different dependent or independent claims does not imply that combinations of these features cannot be advantageously used, such combinations still remain within the scope of the invention.

Claims

1. A method for fulfilling product orders, comprising: A multi-level transport system providing a product order fulfillment system, wherein each level has a corresponding independent asynchronous level transport system for mixed containers, the independent asynchronous level transport system being separate and different from the asynchronous level transport systems corresponding to each other level of the multi-level transport system, the asynchronous level transport systems defining an array corresponding to the asynchronous level transport axes of the level, and being configured to maintain asynchronous transport of at least one container, thereby providing transport of mixed containers along the array of asynchronous level transport axes; and A lifting transport system is provided having more than one independent lifting axis, each of the more than one independent lifting axis being configured to independently hold the at least one box and reciprocate along the lifting travel axis to independently raise and lower the at least one box, thereby providing lifting transport of mixed boxes between more than one of the layers of the multi-level transport system, each independent lifting axis being communicatively connected to each asynchronous layer transport system; The at least one container is exchanged between each asynchronous layer transport system and each independent elevator axis, and the mixed container is transferred from at least one asynchronous layer transport system to each of the more than one independent elevator axis, such that the mixed container is output from the multi-layer transport system via the independent elevator axis; Each of the more than one independent lift axis is communicatively connected to each of the other independent lift axes, forming a common output of a mixed box that outputs through each of the more than one independent lift axes. The more than one independent lift axis is configured to form an ordered sequence of mixed boxes at the common output and from the common output according to a predetermined box output sequence of the mixed boxes, the ordered sequence of mixed boxes being transferred through the common output to the output station of the product order fulfillment system.

2. The method according to claim 1, wherein, It also includes reordering the mixing bins using the more than one independent elevator axis and changing the ordered sequence of the mixing bins in motion using the lifting transport system as follows: from a lower ordered sequence of the mixing bins at the feed of the lifting transport system to a higher ordered sequence of the mixing bins at the output of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are, respectively, a lower order and a higher order in the sequence order relative to the predetermined bin output ordered sequence.

3. The method according to claim 2, wherein, The superior ordered sequence is characterized by the sequence order of its mixing bins, which converges with the ordered output sequence of the predetermined bin, such that there is a strong correlation between the corresponding sequence orders of the superior ordered sequence and the ordered output sequence of the predetermined bin, and wherein the inferior ordered sequence is characterized by the sequence order of its mixing bins, which diverges from or is substantially neutral with respect to the ordered output sequence of the predetermined bin, such that there is a weak correlation between the corresponding sequence orders of the inferior ordered sequence and the ordered output sequence of the predetermined bin.

4. The method according to claim 3, wherein, The strong correlation makes the sequence order a near-net sequence order of the ordered sequence output from the predetermined bin of the mixing bin.

5. The method according to claim 1, wherein, Each of the more than one independent elevator axis is communicatively connected to the array of asynchronous layer transport axes corresponding to each asynchronous layer transport axis of each asynchronous layer transport system.

6. The method according to claim 1, wherein, Each of the more than one independent lift axis has a corresponding output section and a cross section, the cross section operatively connecting the corresponding output section of each of the more than one independent lift axis to the common output, such that a mixing box from each independent lift axis reaches the common output via the cross section.

7. The method of claim 6, further comprising the ordered sequence of mixing boxes formed on the transverse member at the common output, and which are substantially within the boundaries defined by the outermost independent elevator axis of the lifting transport system.

8. The method of claim 6, further comprising using the transverse member to operatively interconnect at least two of the more than one independent elevator shafts.

9. The method of claim 6, further comprising using the traverse member to at least partially reorder a lower ordered sequence of mixing boxes at the feed of the lifting transport system to a higher ordered sequence of mixing boxes at the output of the lifting transport system, the traverse member forming a bypass path for the mixing boxes transported and output via the more than one independent lift axis of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are, respectively, a lower order and a higher order in sequence order relative to the predetermined box output ordered sequence of the mixing boxes.

10. The method of claim 1, further comprising using at least one of the more than one independent lift shafts to reorder at least partially from a lower ordered sequence of mixing boxes at the feed of the lifting transport system to a higher ordered sequence of mixing boxes at the output of the lifting transport system, the at least one of the more than one independent lift shafts forming a bypass path for the mixing boxes transported and output by the more than one independent lift shaft of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are respectively a lower order and a higher order in the sequence order relative to the predetermined box output ordered sequence of the mixing boxes.

11. The method for fulfilling product orders according to claim 1, wherein, The ordered sequence of mixed boxes output according to the predetermined box output at the common output and the ordered sequence of mixed boxes formed from the common output are substantially continuous and are generated in accordance with at least one mixed box pallet layer of mixed boxes that are laterally distributed and stacked by the high-speed pallet builder.

12. A method comprising: A multi-level transport system for fulfilling product orders, wherein each level has a corresponding independent asynchronous level transport system for mixed containers, the independent asynchronous level transport system being separate and different from the asynchronous level transport systems corresponding to each other level of the multi-level transport system, the asynchronous level transport system defining an array of asynchronous level transport axes corresponding to the level, and being configured to maintain asynchronous transport of at least one container, thereby providing transport of mixed containers along the array of asynchronous level transport axes; A lifting transport system is provided having more than one independent lifting axis, each of the more than one independent lifting axis being configured to independently hold the at least one container and reciprocate along a lifting travel axis to independently raise and lower the at least one container, each of the more than one independent lifting axis being communicatively connected to a common lifting transport output, and each of the more than one independent lifting axis collectively outputting the mixed container from the lifting transport system through the common lifting transport output; and A feed interface is provided that communicatively connects the multi-level transport system to each of the more than one independent lift axis. The feed interface includes different feed stations distributed at each asynchronous multi-level transport system for each of the more than one independent lift axis, such that each of the more than one independent lift axis has a different corresponding feed station at each asynchronous multi-level transport system, through which the mixing box is fed from the multi-level transport system to each of the more than one independent lift axis. The more than one independent elevator axis is used to realize the output of the mixed box in a predetermined box output ordered sequence through the public elevator transport to the output station of the product order fulfillment system. The predetermined box output ordered sequence is decoupled from the available sequence of the mixed box. The available sequence of the mixed box comes from the multi-level transport system at the feed interface and is formed therethrough and fed to the more than one independent elevator axis through the feed interface.

13. The method according to claim 12, wherein, The more than one independent elevator axis of the elevator transport system forms an elevator transport flow from the feed interface of the elevator transport flow having the available sequence of mixed boxes to the mixed box of the common elevator transport output having the predetermined box output ordered sequence, and at least one elevator axis from the more than one independent elevator axis defines a path relative to another of the more than one independent elevator axis. The method also includes reordering in flight from the available sequence of mixed boxes in the elevator transport flow to the predetermined box output ordered sequence of the mixed boxes at the common elevator transport output.

14. The method of claim 12, further comprising reordering the mixing bins using the more than one independent elevator axis and using the elevator transport system to change the ordered sequence of the mixing bins in motion as follows: from a lower ordered sequence of the mixing bins at the feed of the elevator transport system to a higher ordered sequence of the mixing bins at the output of the elevator transport system, wherein the lower ordered sequence and the higher ordered sequence are, respectively, a lower order and a higher order in the sequence order relative to the predetermined bin output ordered sequence.

15. The method according to claim 14, wherein, The superior ordered sequence is characterized by the sequence order of its mixing bins, which converges with the ordered output sequence of the predetermined bin, such that there is a strong correlation between the corresponding sequence orders of the superior ordered sequence and the ordered output sequence of the predetermined bin, and wherein the inferior ordered sequence is characterized by the sequence order of its mixing bins, which diverges from or is substantially neutral with respect to the ordered output sequence of the predetermined bin, such that there is a weak correlation between the corresponding sequence orders of the inferior ordered sequence and the ordered output sequence of the predetermined bin.

16. The method according to claim 15, wherein, The strong correlation makes the sequence order a near-net sequence order of the ordered sequence output from the predetermined bin of the mixing bin.

17. The method according to claim 12, wherein, Each of the more than one independent elevator axis is communicatively connected to the array of asynchronous layer transport axes corresponding to each asynchronous layer transport axis of each asynchronous layer transport system.

18. The method according to claim 12, wherein, Each of the more than one independent lift axis has a corresponding output section and a cross section that operatively connects the corresponding output section of each of the more than one independent lift axis to the common lift transport output, such that a mixing tank from each of the more than one independent lift axis reaches the common lift transport output via the cross section.

19. The method according to claim 18, wherein, It also includes the ordered sequence of mixing boxes formed on the transverse member at the public lift transport output, and which are substantially within the boundaries defined by the outermost independent lift axis of the lift transport system.

20. The method of claim 18, further comprising using the transverse member to operatively interconnect at least two of the more than one independent elevator shafts.

21. The method of claim 18, further comprising reordering at least partially from a lower ordered sequence of mixing bins at the feed of the lifting transport system to a higher ordered sequence of mixing bins at the output of the lifting transport system, the traverse forming a bypass path for the mixing bins transported and output via the more than one independent lift axis of the lifting transport system, wherein the lower ordered sequence and the higher ordered sequence are, respectively, a lower order and a higher order in sequence order relative to the predetermined bin output ordered sequence of the mixing bins.

22. The method according to claim 12, wherein, It also includes reordering, at least partially, the lower ordered sequence of mixing boxes at the feed of the lifting transport system to the upper ordered sequence of mixing boxes at the output of the lifting transport system, wherein at least one of the more than one independent lifting axis forms a bypass path for the mixing boxes transported and output by the more than one independent lifting axis of the lifting transport system, wherein the lower ordered sequence and the upper ordered sequence are respectively the lower order and the upper order in the sequence order relative to the predetermined box output ordered sequence of the mixing boxes.

23. The method according to claim 12, wherein, The ordered sequence of mixed containers output according to the predetermined container output at the public lift transport output and the ordered sequence of mixed containers formed from the public lift transport output are substantially continuous and are generated in accordance with at least one mixed container pallet layer of mixed containers that are laterally distributed and stacked by the high-speed pallet builder.

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