Automated shuttle vehicle system for multi-depth storage rack

Abstract

The invention is entitled "Automated Shuttle System for Multi-Depth Storage Racks". The invention provides a method for retrieving objects from a multi-depth object storage device and related apparatus. The method includes retrieving, via a shuttle, at least a first object from a first depth of a storage location and a second object from a second depth of the storage location. The first depth is less than the second depth such that the first object positioned at the first depth interferes with retrieval of the second object positioned at the second depth. The method also includes manipulating the first object and the second object such that the first object is positioned to be disposed in the storage location while the second object remains disposed on the shuttle. The method also includes disposing the first object in the storage location while the second object remains on the shuttle. A corresponding apparatus is also provided.

Description

Technical Field

[0001] This disclosure relates in general to the material handling of containers, packaging, discrete articles and / or other objects, and more specifically to techniques for moving objects stored at various depths in storage racks via shuttles. Background Technology

[0002] Automated shuttles that move along integrated tracks within storage racks are configured to retrieve objects stored at discrete storage locations within those racks. To maximize the amount of storage space available within the footprint defined by the storage racks and the automated shuttle system, the overall size of the shuttle is typically approximated to the size of the individual objects to be stored and retrieved throughout the system (e.g., the estimated largest object), while the storage racks are configured with multi-depth storage locations, allowing objects to be stored one after another. However, due to the configuration of the automated shuttles, retrieving objects from a second depth within the storage rack (e.g., behind at least one other object at the first depth) requires the automated shuttle to move the object from the first depth into an open, reserved storage location before it can be retrieved from the second depth within that location. Through effort, ingenuity, and innovation, many of these recognized problems have been solved by the methods and apparatus of this disclosure. Summary of the Invention

[0003] A brief overview is provided below to offer a basic understanding of some of the disclosed aspects. This overview is not an exhaustive summary and is not intended to identify key or important elements or define the scope of these aspects. Its purpose is to serve as an introduction to the specific embodiments provided below, presenting some concepts of the described features in a simplified form.

[0004] In an exemplary embodiment, a method for retrieving an object from a multi-depth object storage device is provided. The method includes retrieving at least a first object from a first depth of a storage location and retrieving a second object from a second depth of the storage location via a shuttle. The first depth is less than the second depth, such that the first object positioned at the first depth interferes with the retrieval of the second object positioned at the second depth. The method further includes manipulating the first and second objects such that the first object is positioned in the storage location while the second object remains positioned on the shuttle. The method also includes positioning the first object in the storage location while the second object remains on the shuttle.

[0005] In some embodiments, the shuttle defines an object load bed. In such embodiments, the object load bed is configured to hold a first object and a second object when removed from a storage location. In some embodiments, the shuttle includes at least a first shuttle load arm and a second shuttle load arm constructed along the side of the object load bed. In such embodiments, each of the shuttle load arms defines one or more fingers configured to engage with a given object during operation. In some embodiments, the object load bed defines a first chamber and a second chamber. In such embodiments, the first chamber and the second chamber are each configured to support at least one object therein.

[0006] In some embodiments, the shuttle defines a third load arm positioned at least substantially centered relative to the width of the object load bed. In some embodiments, the third arm, being centered, is configured to work in conjunction with a first load arm and a second load arm. In some embodiments, the shuttle defines a third load arm and a fourth load arm, the third load arm being positioned at least substantially centered relative to the width of the object load bed, the fourth load arm being positioned adjacent to the third load arm, which is positioned at least substantially centered relative to the width of the object load bed. In such embodiments, the third load arm includes one or more arm fingers configured to engage an object in a first chamber, and the fourth load arm includes one or more arm fingers configured to engage an object in a second chamber. In some embodiments, the third arm fingers may be configured to work in conjunction with at least one of the first load arm fingers and / or the second arm fingers (e.g., to cooperatively engage an object with at least one of the first load arm fingers and / or the second arm fingers). In such embodiments, the third arm finger may be configured to selectively engage with an object between the third and first arms, and / or the third arm finger may be configured to selectively engage with an object between the third and fourth arms. In some embodiments, the third arm finger is capable of retracting and extending toward at least one of the first or second arms (e.g., extending into one or both compartments of the shuttle). For example, the third arm finger is capable of extending on either side of the third arm. In some embodiments, each individual third arm finger may be capable of extending toward only one of the first or second arms. For example, the third arm may have one or more fingers dedicated to working with the first arm (e.g., extending toward the first arm), and one or more fingers dedicated to working with the second arm (e.g., extending toward the second arm). In some embodiments, the third arm may be configured to have separate fingers configured to work with one of the first or second arm fingers. In some embodiments, the third load arm may be configured to work in conjunction with the first load arm, and the fourth load arm may be configured to work with the second load arm.

[0007] In some embodiments, the third load arm and / or the fourth load arm separates the first chamber and the second chamber, and removing the first and second objects from the storage location includes: removing the first object via at least one integrated finger of the first load arm and one or more integrated fingers of the third load arm, such that the first object is placed in the first chamber of the object load bed; moving the shuttle such that the second chamber is aligned with the storage location; and removing the second object via at least one integrated finger of the second load arm and one or more integrated fingers of the third load arm, such that the second object is placed in the second chamber of the object load bed.

[0008] In some embodiments, manipulating the first and second objects includes moving the second object into the second chamber while the first object is positioned in the first chamber. In such embodiments, the first chamber is aligned with a storage location such that the first object can be positioned in the storage location. In some embodiments, the method further includes moving the second object into the first chamber while the first object is already positioned in the storage location. In some embodiments, the first chamber is configured to support at least two objects simultaneously, and the second chamber is configured to support at least two objects simultaneously, such that the load bed is configured to support at least four objects simultaneously.

[0009] In some embodiments, the object load bed includes a lifting mechanism to move a given object in a first direction during operation. In such embodiments, manipulating the first and second objects includes moving the second object in the first direction via the lifting mechanism such that the first object can be positioned in a storage location, wherein the first direction is defined as vertical or horizontal. In some embodiments, manipulating the first and second objects includes rotating the object load bed of a shuttle by at least about 180 degrees such that the first object can be positioned in the storage location while the second object remains on the shuttle. In some embodiments, manipulating the first and second objects also includes rotating the first object on the object load bed (e.g., about 180 degrees relative to an initial orientation). In some embodiments, the method further includes rotating the object load bed by at least about 180 degrees after the first object has been placed in the storage location.

[0010] In another exemplary embodiment, a shuttle configured to retrieve objects from a multi-depth object storage device is provided. The shuttle includes an object loading bed and a plurality of loading arms, the object loading bed being configured to hold at least a first object and a second object upon retrieval from a storage location, each loading arm having at least one finger. The shuttle is configured to retrieve at least the first object from a first depth of the storage location and the second object from a second depth, wherein the first depth is less than the second depth, such that the first object positioned at the first depth interferes with the retrieval of the second object positioned at the second depth. The shuttle is also configured to manipulate the first and second objects such that the first object is positioned in the storage location while the second object remains positioned on the shuttle. The shuttle is further configured to position the first object in the storage location while the second object remains on the shuttle.

[0011] In some embodiments, the shuttle includes at least a first shuttle load arm and a second shuttle load arm configured along the side of the object load bed. In such embodiments, each of the shuttle load arms defines one or more fingers configured to engage with a given object during operation. In some embodiments, the object load bed defines a first chamber and a second chamber. In such embodiments, the first chamber and the second chamber are each configured to support at least one object therein. In some embodiments, the shuttle also includes a third load arm positioned at least substantially centrally relative to the width of the object load bed.

[0012] In some embodiments, the shuttle defines a third load arm and a fourth load arm, the third load arm being positioned at least substantially centered relative to the width of the object load bed, and the fourth load arm being positioned adjacent to the third load arm, which is positioned at least substantially centered relative to the width of the object load bed. In such embodiments, the third load arm includes one or more arm fingers configured to engage an object in a first chamber, and the fourth load arm includes one or more arm fingers configured to engage an object in a second chamber. In some embodiments, the third load arm separates the first and second chambers, and removing the first and second objects from the storage location further includes: removing the first object via at least one integrated finger of the first load arm and one of the integrated fingers of the third load arm, such that the first object is placed in the first chamber of the object load bed; moving the shuttle such that the second chamber is aligned with the storage location; and removing the second object via at least one integrated finger of the second load arm and one of the integrated fingers of the third load arm, such that the second object is placed in the second chamber of the object load bed.

[0013] In some embodiments, manipulating the first and second objects includes moving the second object into the second chamber while the first object is positioned in the first chamber. In such embodiments, the first chamber is aligned with a storage location such that the first object can be positioned in the storage location. In some embodiments, the first chamber is configured to support at least two objects simultaneously, and the second chamber is configured to support at least two objects simultaneously, wherein the load bed is configured to support at least four objects simultaneously.

[0014] In some embodiments, the shuttle is further configured to move a second object into a first chamber while the first object is already positioned in a storage location. In some embodiments, the object loading bed includes a lifting mechanism to move a given object in a first direction during operation. In such embodiments, manipulating the first and second objects includes moving the second object in a first direction via the lifting mechanism such that the first object can be positioned in a storage location, wherein the first direction is defined as either vertical or horizontal.

[0015] In some embodiments, manipulating the first and second objects includes rotating the object load bed of the shuttle by about 180 degrees, such that the first object can be positioned in a storage location while the second object remains on the shuttle. In some embodiments, manipulating the first and second objects also includes rotating the first object on the object load bed. In some embodiments, the shuttle is further configured to rotate the object load bed by at least about 180 degrees after the first object has been placed in the storage location.

[0016] To achieve the foregoing and related objectives, one or more aspects include the features fully described below and specifically pointed out in the claims. The following description and drawings illustrate certain exemplary aspects in detail and merely indicate some of the various ways in which the principles of these aspects may be employed. Other advantages and novel features will become apparent from the following detailed description when considered in conjunction with the drawings, and the disclosed aspects are intended to include all such aspects and their equivalents. Attached Figure Description

[0017] The features, nature, and advantages of this disclosure will become more apparent from the detailed description set forth below, when considered in conjunction with the accompanying drawings, in which similar reference numerals are correspondingly used throughout, and wherein:

[0018] Figure 1A A perspective view of a material handling system according to one or more embodiments is shown, the material handling system including an automated storage and retrieval system (AS / RS) utilizing a dual carriage lifting device.

[0019] Figure 1B A perspective view of a storage rack for AS / RS according to certain embodiments is shown;

[0020] Figure 1C A perspective view of a shuttle according to certain embodiments is shown;

[0021] Figures 2A to 2B Top views of the shuttle design of the exemplary embodiments are shown respectively. Figure 2A ) and side view ( Figure 2B );

[0022] Figure 2C This is a top view of a shuttle design with an exemplary embodiment having four load arms;

[0023] Figure 2D Another top view of a shuttle with four load arms carrying four objects, according to some embodiments, is shown. The shuttle, such as... Figure 2C The shuttle design shown;

[0024] Figure 2E This is a flowchart of a shuttle retrieval operation according to an exemplary embodiment, the shuttle being such as Figures 2A to 2C The shuttle shown;

[0025] Figure 2F This is a flowchart illustrating the setup operation of a shuttle according to an exemplary embodiment, such as... Figures 2A to 2C The shuttle shown;

[0026] Figures 3A to 3D The movement of an object on a shuttle according to an exemplary embodiment is shown;

[0027] Figures 3E to 3G The movement of an object on a shuttle according to an exemplary embodiment is shown;

[0028] Figure 3H This is a flowchart of a shuttle retrieval operation according to an exemplary embodiment, the shuttle being such as Figures 3E to 3G or Figures 4A to 4C The shuttle shown;

[0029] Figure 3I This is a flowchart illustrating the setup operation of a shuttle according to an exemplary embodiment, such as... Figures 3E to 3G or Figures 4A to 4C The shuttle shown;

[0030] Figures 4A to 4E The movement of an object on a shuttle according to another exemplary embodiment is shown;

[0031] Figures 5A to 5E The movement of an object on a shuttle is illustrated according to yet another exemplary embodiment;

[0032] Figure 5F According to the exemplary implementation scheme Figures 5A to 5E A side view of an exemplary shuttle used in the operation;

[0033] Figure 5G This is a flowchart of a shuttle retrieval operation according to an exemplary embodiment, the shuttle being such as Figures 5A to 5F The shuttle shown; and

[0034] Figure 5H This is a flowchart illustrating the setup operation of a shuttle according to an exemplary embodiment, such as... Figures 5A to 5F The shuttle shown. Detailed Implementation

[0035] Various aspects will now be described with reference to the accompanying drawings. In the following description, numerous specific details are set forth for illustrative purposes in order to provide a thorough understanding of one or more aspects. However, it will be apparent that these aspects can also be practiced without these specific details. In other cases, well-known structures and devices are shown in block diagram form to facilitate the description of these aspects.

[0036] Figure 1A A material handling system 100 including an automated storage and retrieval system (AS / RS) 102 is shown. The storage racks 104 of the AS / RS 102 can be defined as a series of vertically arranged shelves, each shelf supported by a support frame (e.g., reference...). Figure 1B The support frame may include vertical and horizontal support members, the vertical support members separating the various layers within the storage rack 104 and the horizontal support members supporting individual shelves. Each shelf may define and / or include one or more compartments, each compartment encompassing multiple storage locations configured to store at least one object (e.g., containers, products, reels, and / or other object constructs). AS / RS may define one or more channels 107 defined between two adjacent storage racks, wherein one or more shuttles 114 are defined in these channels to remove objects and / or place objects in storage locations within the storage racks. As shown, objects may be moved between different layers via lifting device 110 and / or to and from pick-up and drop-off station 118. In an exemplary embodiment, objects may be received by the system at pick-up and drop-off station 118 from feed conveyor 106 via product delivery system 120 and lifting interface 122. In various implementations, objects can be removed from the AS / RS via pick-up and drop-off station 118, thereby being transferred to product delivery system 120, then to lifting interface 122, and finally to outbound conveyor 108.

[0037] Each storage location can be defined as a physical space on a shelf for storing objects. In various embodiments, as described herein, a storage location can define a storage depth capable of holding one or more objects (e.g., multiple objects at various depths). Various shelves can have various configurations, wherein storage locations have different dimensions and / or depths based on a given configuration (e.g., the size and shape of a given object). In various embodiments, compartments can be defined between the vertical support members of the storage shelf, such that multiple storage locations can be defined within a given compartment.

[0038] As described herein, one or more horizontal support members within each layer may include or define at least a portion of the movement track of the shuttle as described herein. In various embodiments, the storage rack 104 may be a column and beam frame constructed at the corner of a rectangle with four vertical support members 150 (e.g., uprights), wherein horizontal support members 155 (e.g., load beams) connect the vertical columns. Figure 1B An exemplary shelf defined by four vertical support members 150 is shown, wherein horizontal support members 155 extend between and connect the vertical support members. In various embodiments, such as for carton-based systems, various surfaces are used to span the distance between the horizontal support members to form the shelf. In some embodiments, solid shelves may be used where steel fireproof blocks are placed on layers to form a sprinkler configuration. Other examples of support surfaces for carton- or handbag-based systems include wire mesh, top panels, etc. For example, in the case where wire mesh is used, the top wires (contact surface) may extend parallel to the direction of the load carrier's movement, minimizing the chance of the load getting stuck or dangling when manipulated by the load carrier. In various embodiments, the width of a standard shelf may be based on the dimensions of a typical storage style. For example, a standard shelf width may be approximately 8 feet.

[0039] In various implementation schemes, such as Figure 1AAs shown, objects are supplied to storage rack 104 via feed conveyor 106 for storage. In various embodiments, storage rack 104 may define multiple layers connected via a vertical lifting device 110, which is configured to move objects between feed conveyor 106 and discharge conveyor 108 to the appropriate layer of storage rack 104. Vertical lifting device 110 has a vertical support structure positioned adjacent to storage rack 104 to pick up objects from selected layers within storage rack 104 and place them at the selected layer within the storage rack. Vertical lifting device 110 may be fixed to the storage rack and transport objects between conveyors defined on different layers. Each layer of storage rack 104 may be divided into storage locations (e.g., storage location 116) configured to accommodate one or more objects 112. In various embodiments, the objects may be any type of container used in AS / RS, such as cartons, boxes, handbags, layered handbags, pallets, trays, etc.

[0040] In various embodiments, for a given layer, each storage location may be defined between transverse members. In various embodiments, one or more storage locations may define a storage location opening configured to receive an object therein. Alternatively, each storage location may be defined as a section of a given storage shelf as wide as the object to be received. One or more storage locations may define a storage location depth configured to accommodate at least one object. Where a storage location is defined with sufficient depth for multiple objects, objects can be placed in the storage location at different depths (e.g., the last object placed in the storage location may block the removal of any other object from the storage location).

[0041] In order to remove and / or place objects in various storage locations of the storage rack 104, the material handling system 100 may use a shuttle 114 configured to retrieve one or more objects from the storage rack 104. Figure 1CAn exemplary shuttle is shown. In various embodiments, shuttle 114 can be any type of single-level shuttle (OLS) vehicle commonly used in AS / RS, such as a shuttle, trolley, robot, etc. In various embodiments, shuttle 114 can be a self-contained unit that receives power (e.g., 48VDC) from a busbar located within a shuttle rail that can be mounted to a storage rack. In various embodiments, the power rail (e.g., providing 48VDC power to the rail) can be powered by a DC power board. In various embodiments, a single DC power board can power multiple shuttles (e.g., up to six shuttles). In various embodiments, shuttle 114 can receive control system commands via a wireless local area network (WLAN). In various embodiments, at least one shuttle 114 can be arranged along each layer of storage rack 104. Thus, shuttle 114 can be configured to move horizontally along the storage rack via shuttle rails. For example, shuttle 114 can have one or more wheels 170, such as... Figure 1C As shown, the shuttle is moved along a shuttle track via a motor. In various embodiments, one or more shuttles 114 may be configured to move between different layers of the AS / RS via a vertical lifting device 110. In various embodiments, the shuttle track may be attached to a storage rack. However, it should be understood that any of a variety of moving mechanisms can be used to move the shuttle (e.g., belt drive system, magnetic moving mechanism, chain drive system, etc.). Furthermore, it should be understood that the moving mechanism may be defined within the shuttle (e.g., a motor positioned on the shuttle) or within the storage rack (e.g., a motor within the storage rack). The shuttle may be configured to have sensors configured to move to a desired storage location and / or engage with an object in a given storage location. For example, shuttle 114 may be equipped with a proximity sensor to determine the horizontal position of the shuttle or to determine the depth of a given object within the storage location. In various embodiments, shuttle 114 may also be equipped with sensors and onboard devices, such as a Wi-Fi antenna for communicating with a warehouse control system (WCS), overload protection, one or more power supplies (e.g., 24-volt and / or 48-volt power supplies), digital input and output modules, etc. As discussed in more detail below, shuttle 114 may include one or more load arms configured to extend into a storage location. In some embodiments, shuttle 114 may have a first load arm and a second load arm defined along opposite sidewalls of shuttle 114. The sidewalls may be configured to resist movement of objects during shuttle 114 movement. In various embodiments, one or more integrated arm fingers may be used to hold objects during loading and / or unloading processes. Shuttle 114 may define an object load bed 206 defined between two opposite sidewalls (e.g., at least in...). Figure 2A (As shown in the image). The object load bed is defined by a base plate constructed to support the object during movement, such as... Figure 1BAs shown. Each load arm may have one or more retractable fingers configured to engage an object and move or remove it from a shuttle. In some embodiments, the shuttle 114 may be positioned between two storage racks 104 such that the shuttle can retrieve one or more objects from any storage location of the two storage racks 104 along a given layer (e.g., the load arm of the shuttle may extend toward either of the two storage racks 104). For example, two adjacent storage racks may be sufficiently separated to allow the shuttle to move between them. When retrieving an object, the shuttle 114 is configured to transport the object to another storage location or to convey the object to a vertical lifting device (e.g., an inlet or outlet support) of the vertical lifting device. Thus, the shuttle can move the desired object to one of the vertical lifting devices 110, thereby moving the object to the discharge conveyor 108. The vertical lifting device 110 is movable to enable the movement of objects between different layers of the storage rack.

[0042] Figure 1B An exemplary storage rack 104 configuration is shown, wherein each storage location is capable of holding at least two objects 112A, 112B. In such embodiments, the first object 112A defines a first depth, which is shorter than a second depth defined by the second object 112B defined in the same storage location. Therefore, the second object 112B cannot be removed from the storage location by the shuttle unless the first object 112A is removed first. Conventional shuttles are configured such that the first object must be transported or moved together with the second object 112B to another “reserved” storage location on the storage rack 104 (e.g., a different storage location within a compartment or a different storage location in different compartments). Thus, the storage rack 104 requires additional movement of the shuttle and / or additional storage space on the rack. Various embodiments of this disclosure as described herein allow the first object 112A to be moved back to the same storage location 116 in the same compartment, while the second object 112B remains on the shuttle.

[0043] In various embodiments, the shuttle 114 described herein may be defined as an object load bed 206 configured to hold at least a first object and a second object when retrieved from a storage location. In various embodiments, the shuttle 114 may define a first load arm 200 and a second load arm 202, which are defined on opposite sides of the object load bed 206. Figure 2A and Figure 2BA shuttle is shown as an exemplary embodiment, defining a width at least as wide as the width of two objects (e.g., such that two objects can sit side-by-side on the shuttle). In some embodiments, the load bed 206 may have a depth at least twice the depth of the objects. In various embodiments, the shuttle 114 may include a third load arm 204 disposed between a first load arm 200 and a second load arm 202 on the object load bed 206. In various embodiments, the third load arm 204 may be configured to engage with an object in either the first chamber 208 or the second chamber 210 (e.g., via retractable load arm fingers 216A (first chamber 208) and retractable load arm fingers 216B (second chamber 210)). In various embodiments, the first chamber 208 may be defined between the first load arm 200 and the third load arm 204. In various embodiments, the second chamber 210 may be defined between the third load arm 204 and the second load arm 202. In various embodiments, each of the first chamber 208 and the second chamber 210 may be wide enough to house the object 110 therein. In various embodiments, the load arms 200 to 204 may be extendable such that they enter a given storage location and retrieve a given object via one or more integrated fingers.

[0044] In some embodiments, the third arm finger may be configured to work with at least one of the first load arm finger and / or the second arm finger (e.g., to cooperatively engage an object with at least one of the first load arm finger and / or the second arm finger). In such embodiments, the third arm finger may be configured to selectively engage an object between the third arm and the first arm, and / or the third arm finger may be configured to selectively engage an object between the third arm and the fourth arm. In some embodiments, the third arm finger is capable of retracting and extending toward at least one of the first or second arms (e.g., extending into one or both compartments of the shuttle). For example, the third arm finger is capable of extending on either side of the third arm. In some embodiments, each individual third arm finger may be capable of extending toward only one of the first or second arms. For example, the third arm may have one or more integrated fingers dedicated to working with the first arm (e.g., extending toward the first arm) and one or more integrated fingers dedicated to working with the second arm (e.g., extending toward the second arm). In some embodiments, the third arm may be configured to have separate fingers configured to work with one of the first arm fingers or the second arm fingers. In an exemplary embodiment, the first load arm 200 may have one or more first load arm fingers 212, and the third load arm 204 may have one or more third load arm fingers 216A that extend into a first chamber and are configured to engage with an object to move a given object from a storage position of the rack to a first chamber 208 of the shuttle's object load bed 206. Additionally, the second load arm 202 may have second load arm fingers 214, and the third load arm may have third load arm fingers 216B that extend into a second chamber and are configured to engage with an object to move a given object from a storage position of the rack 104 to a second chamber 210 of the shuttle's object load bed 206. In some embodiments, a fourth load arm 207 may be provided adjacent to the third arm 204, such as... Figure 2C As shown, the third arm may have only retractable integrated fingers that interact with the first chamber, while the fourth arm may have retractable integrated fingers that interact with the second chamber.

[0045] In various implementation schemes, such as Figure 2D As shown, according to Figures 2A to 2CCompared to modern shuttles, the shuttle can increase capacity. In various embodiments, as shown in the figures, the shuttle can hold a total of four objects (e.g., two objects in each chamber). In various embodiments, where three or four arms are provided (e.g., where the width of the shuttle is sufficient to hold multiple objects), the shuttle can hold four objects. In various embodiments, multiple objects can be moved and / or stored in different storage locations based on the system's storage needs. In various embodiments, the shuttle using the same design in exemplary embodiments can accommodate additional objects (e.g., the shuttle can be extended to accommodate three objects in each chamber).

[0046] Figure 2E This is a flowchart illustrating the retrieval operation of a shuttle car according to various implementation schemes, such as... Figures 2A to 2C The shuttle is shown. While the operations described herein can be discussed with reference to removing an object from a storage location, various operations can also be used to place objects at various depths within the storage location (e.g., in cases where a first and a second object are placed in the storage location, the load bed can be manipulated so that the second object can be placed in the storage location before the first object, such as referring to...). Figure 2E (as described herein). For example, when both the first object 112A and the second object 112B are arriving (e.g., from an inbound conveyor) and it is desired that the second object 112B be at a second depth greater than the first object 112A's first depth, the first object 112A can be moved (e.g., using various operations discussed herein) to allow the second object 112B to be placed in the storage location, and then the first object 112A to be placed in the same storage location. Various embodiments of this disclosure can increase object capacity compared to current shuttle designs. For example, during a given period, Figures 2A to 2C as well as Figures 3A to 3D Each shuttle can have a capacity for up to four objects (e.g., Figure 2A Each chamber may contain two objects.

[0047] See now Figure 2E The method of retrieving the second object 112B from frames 250 and 260 may include: aligning the first chamber of the shuttle with a storage location containing the first object at a first depth and the second object at a second depth, wherein the second depth is greater than the first depth; and then retrieving the first object from the storage location into the first chamber. As described above, the first load arm 200 and / or the third load arm 204 may have integrated fingers (e.g., fingers 212, 216A) configured to retract and engage with the first object 112A to move the first object from the storage location into the first chamber 208.

[0048] See now Figure 2E The method of removing the second object 112B may include moving a shuttle to align the second chamber with the storage location containing the second object, and then removing the second object 112B from the storage location into the second chamber 210.

[0049] See now Figure 2E In frame 290, the method of retrieving the second object 112B may include returning the first object 112A to the storage position from which it was retrieved after aligning the first chamber with the storage position. In some embodiments, the first object 112A may be returned to the storage position before being brought to the nearby lifting device 110 for transport to the discharge conveyor 108. In various embodiments, once the second object 112B is retrieved (e.g., frame 280), the shuttle can be moved such that the first chamber of the shuttle is aligned with the storage position (e.g., as in the operation of frames 250 and 260).

[0050] Figure 2F This is a flowchart illustrating the setup and operation of a shuttle according to various implementation schemes, such as... Figures 2A to 2C The shuttle shown. Various implementations can be constructed to increase the object capacity compared to the current shuttle design. For example, during a given period, Figures 2A to 2C as well as Figures 3A to 3D Each shuttle can have a capacity to support up to four objects (e.g., Figure 2A Each compartment may contain two objects. Furthermore, various embodiments of the shuttle described herein can be used to change the position of one or more objects while also transporting other objects that do not require repositioning.

[0051] See now Figure 2F The method of positioning the first object 112A at a first depth and the second object 112B at a second depth, as specified in frames 255 and 265, includes aligning the second chamber 210 of the shuttle with a storage location and then positioning the second object from the second chamber into the storage location. In various embodiments, a load arm (e.g., any one of a second load arm 202 and a third load arm 204 or a fourth load arm 207) may be configured to engage the second object 112B and move the second object 112B to a second depth in the storage location, such that another object can be placed in the storage location at a depth less than the first depth of the second object 112B.

[0052] See now Figure 2FThe method of positioning a first object 112A at a first depth and a second object 112B at a second depth, as specified in frames 275 and 285, includes moving a shuttle to align a first chamber with a storage location in which the second object is positioned, and then positioning the first object 112A from the first chamber into the storage location. In various embodiments, load arms (e.g., a first load arm 200 and a third load arm 204) may be configured to engage the first object 112A and move the first object 112A to the first depth in the storage location. In various embodiments, the first object 112A and the second object 112B may be stored in opposing chambers such that the second object 112B is in the first chamber and the first chamber is initially aligned with the storage location.

[0053] Figures 3A to 3D Another exemplary operation for a shuttle is shown, the width of which is defined as at least twice the width of the object. In some embodiments, the shuttle may have a first arm 200 disposed along the side of the load bed 206. In some embodiments, a second arm 202 may be centrally located in the middle of the load bed 206. For example, the second arm 202 may divide the load bed into two chambers and may be retractable, allowing objects to be moved from one chamber to another. In various embodiments, operation may be based on placing a first object 112A, a second object 112B, a third object 112C, and a fourth object 112D in a single storage location. See now. Figure 3A The shuttle 114 can be "fully loaded," allowing a maximum number of objects (e.g., four objects 112A to 112D) located on the load bed 206 to be loaded onto the load bed 206. In various embodiments, the shuttle 114 can be configured to move to a specific storage location where objects are to be placed. Figure 3B As shown, the fourth object 112D and the third object 112C, located in the first chamber 208, can be positioned in their storage locations via a shuttle arm. For example... Figure 3C As shown, the first object 112A and the second object 112B can then be moved from the second chamber 210 to the first chamber 208 via one or more push mechanisms 400 (e.g., conveyor rollers can be used to move the objects laterally). Additionally, in some embodiments, the shuttle itself can be displaced such that the second chamber is aligned with a storage location in which the third object 112C and the fourth object 112D are disposed. Figure 3D As shown, the second object 112B and the first object 112A can be placed in the storage location sequentially, such that the fourth object 112D is positioned at a deeper storage depth than the third object 112C, the third object being deeper than the second object 112B, and the second object being deeper than the first object 112A. Therefore, for example, the first object 112A may have to be removed from the storage location before any other object can be accessed.

[0054] Figures 3E to 3G A shuttle is shown as an exemplary embodiment, defining a width at least as wide as the width of two objects. In various embodiments, the shuttle may define a first load arm 200 and a second load arm 202. In various embodiments, the first load arm 200 may be positioned on the side of a load bed 206, and the second load arm 202 may be positioned approximately in the middle of the load bed. Thus, the second load arm 202 may be configured to collapse (e.g., collapse into a slot in the load bed) to allow objects to move from one chamber of the object load bed 206 to another. In various embodiments, the shuttle may be configured to have one or more movement mechanisms (e.g., pushing mechanisms or lifting mechanisms) configured to move objects from one chamber to another. For example, the movement mechanism may be a hydraulic press, a motorized operating device, a conveyor roller, etc. In various embodiments, the movement mechanism may be defined along the edge of the load bed (e.g., as shown in the image). Figure 3A As shown, one or more movement mechanisms 300, such as four movement mechanisms, can be defined on the shuttle to move an object from one part of the shuttle to another (e.g., laterally). Additionally, in some embodiments, such as... Figure 4B As shown, a moving mechanism (e.g., lifting mechanism 400) may be positioned outside the load bed. For example, the moving mechanism may be adjacent to a load area on a shuttle that is operatively in communication with the moving method used (e.g., a motor and / or hydraulic device may communicate with a portion of the load bed to move a given object).

[0055] Figure 3H This is a flowchart illustrating the retrieval operation of a shuttle according to various embodiments, such as... Figures 3E to 3G The shuttle shown. Now see... Figure 3H The method of retrieving the second object 112B from frame 350 includes aligning a shuttle with a storage location that houses the first object 112A and the second object 112B. In various embodiments, shuttle alignment may include aligning the storage location with a first load arm 200 and a second load arm 202 such that the first load arm 200 and the second load arm 202 can extend into the storage location without contacting the object (e.g., load arm 200 or 202 can extend into the storage location and then extend one or more fingers to engage with the object, thereby bringing the object onto the shuttle). See now. Figure 3HIn frame 360, the method of retrieving the second object 112B includes removing the first object 112A and the second object 112B from their storage locations. In some embodiments, the first object 112A and the second object 112B may be retrieved via a single movement of a given load arm (e.g., the load arm may engage the second object 112A and move the second object toward the first object 112A such that both objects move to the shuttle). Alternatively, each object may be moved individually onto the shuttle (e.g., the first object 112A may be moved onto the shuttle, and then the second object 112B may be moved onto the shuttle). Figure 3E An exemplary operation is illustrated, wherein the first load arm 200 is aligned with the storage position, and the first object 112A and the second object 112B have been loaded onto the shuttle. Figure 3H As shown in box 370 and as Figure 3F As shown, the second object 112B can move in a first direction such that the path from the first object to the same storage location is not obstructed. In various embodiments, the first direction may be vertical (e.g., as shown in the diagram). Figures 4A to 4E As shown (upward or downward) or horizontal (e.g., as shown) Figures 3E to 3G (As shown). Therefore, as Figure 3H As shown in box 380, the first object 112A can be returned to the same storage location. Additionally, as... Figure 3H As shown in box 390 and also as Figure 3G As shown, the second object 112B can be moved back to its initial position within the load bed (e.g., the second object can be moved in a second direction opposite to the first direction). In various embodiments, the shuttle can then move the second object 112B toward the vertical lifting device 110 and eventually toward the discharge conveyor 108.

[0056] Figure 3I This is a flowchart illustrating the setup operation of a shuttle according to various embodiments, such as... Figures 3E to 3G The shuttle shown herein. The operation described herein can occur in a situation where a first object 112A is located between a second object 112B and a storage position on a load bed, and the second object 112B is to be placed in a storage position behind the first object 112A. Now see Figure 3IAccording to box 355, the method of placing the first object and the second object in the storage location includes aligning a shuttle with the storage location, as described above with reference to box 350. In such embodiments, the first object may be placed on the shuttle, and the second object may be placed at a first depth within the storage location. For example, the first object 112A may be stored at a second depth within the storage location (e.g., behind the second object 112B). In such examples, as shown in box 365, the method of placing the first object and the second object in the storage location includes removing the second object at the first depth in the storage location onto the load bed 206. In various embodiments, the removal of the second object 112B may be as described above (e.g., Figure 3H (The box is 360). See now. Figure 3I The method of positioning the first and second objects in the storage position, as described in frame 375, includes moving the second object 112B in a first direction. In various embodiments, the first direction may be horizontal (e.g., Figures 3E to 3G ) or vertical (e.g., Figures 4A to 4E This allows the first object 112A to be moved to the storage location (e.g., to the second depth).

[0057] See now Figure 3I In frame 385, the method of setting the first object and the second object in the storage location includes setting the first object at a second depth in the storage location. In various embodiments, setting the first object may be the same as setting other objects as described herein (e.g., via an arm, as referenced). Figure 3H (as described in box 380). See now. Figure 3I In box 395, the method of placing the first object and the second object in the storage location includes moving the second object to an initial position on the shuttle. In some embodiments, the second object 112B may subsequently be placed in the same storage location as the first object 112A, such as... Figure 3I As shown in box 397.

[0058] Figures 4A to 4E Another exemplary shuttle configuration of the various implementations described herein is shown. Figure 4A The shuttle shown has a conventional width slightly wider than the object's width to accommodate the object's intended size (e.g., similar to...). Figure 1B (Dimensions shown). Figure 4B and Figure 4C Two different variations of the exemplary construction are shown. As shown in the figure, Figures 4A to 4C The shuttle can be configured to have a lifting mechanism configured to raise and / or lower objects, such as Figure 4B and Figure 4C As shown. Figures 4A to 4C The operation of the shuttle and Figure 3HThe operation is related. Therefore, the first object 112A and the second object 112B can be retrieved from the same storage location via the first load arm 200 and / or the second load arm 202, such as... Figure 3H As shown in boxes 350 and 360. The second object can then be moved in the first direction such that the path used to position the first object in the storage location is not obstructed by the second object (box 370). Figures 3E to 3F Unlike other objects, the second object 112B can move in the vertical direction (e.g., as shown in the image). Figure 4B As shown upwards or as Figure 4C (As shown downwards). In various embodiments, the shuttle can be configured to have a lifting mechanism 400 configured to raise and lower objects. As a non-limiting example, the lifting mechanism 400 can be a hydraulic lifting device, a pulley system, a gear drive mechanism, etc. Additionally, in the case of lowering a second object, such as... Figure 4C As shown, the shuttle can be configured to have a retractable base plate for the portion of the object load bed 206. In various embodiments, the retractable base plate can be opened into multiple parts, sliding beneath a non-retractable base plate, etc. Thus, once the second object 112B returns to its initial position within the load bed, the base plate can be opened to allow the second object 112B to move in a first direction (e.g., downward) before closing (box 390).

[0059] In various implementation schemes, such as Figure 4D and Figure 4E As shown, a portion of the load bed 206 (e.g., the movable bed portion 410) can be lowered and / or raised, allowing the first object 112A or the second object 112B to slide into a storage position. Figure 4D and Figure 4E As shown, when the second object 112B is loaded into the storage location, the operation can lift the first object 112A. Therefore, the reverse operation can occur when the second object 112B is being removed from the storage location. For example, the second object 112B can be lifted as follows: Figure 4B and Figure 4C The object is raised or lowered to allow the first object 112A to be placed back into its storage location. Various examples described herein allow for selective unloading and loading from a given storage location, as shown in the references. Figure 4D and Figure 4E As stated above.

[0060] In the exemplary lowering scenario, the first object 112A can slide above the top of the second object 112B. In the exemplary raising scenario, the load bed 206 can define a surface below the portion of the load bed 206 being raised, allowing the first object 112A to slide back into its storage position. In various embodiments covering multiple shuttles operating on different corresponding layers of a storage rack, temporary storage locations (e.g., different storage locations) can be used to avoid a deadlock situation defined as a raised or lowered object interfering with the operation of another shuttle. Thus, where two shuttles can simultaneously be in the same horizontal position on adjacent layers, before raising or lowering the first object 112A, one shuttle can move horizontally along the shuttle track and align with another “temporary” storage location, different from the storage location from which the first object 112A and the second object 112B are removed. In such examples, the operation can be performed with the first object 112A positioned in a temporary storage location instead of the initial storage location 116, as shown in box 480 of FIG3. In various embodiments, the shuttle can continue other operations related to moving the second object 112B, and after setting the second object 112B at the intended location, the shuttle can be configured to retrieve the first object 112A and return it to the initial storage location 116. In various embodiments, only one shuttle from adjacent shuttles may need to use the temporary storage location, thus reducing the number of temporary storage locations compared to the current method described above. In various embodiments, where adjacent shuttles may experience a deadlock condition, one shuttle can be configured to remain at another location along the shuttle guide until the deadlock condition is no longer present (e.g., one shuttle completes retrieving or setting an object at a potentially deadlocked location).

[0061] In various embodiments, the motor discussed in those embodiments may be used in conjunction with the lifting mechanism 400 and / or the retractable base plate. Alternatively, the lifting mechanism 400 may be independent of the motor used to move the shuttle. Additionally, various sensors may be used to determine the position of objects (e.g., during the lifting or lowering process) and the position of other shuttles (e.g., to prevent objects being lifted or lowered from interfering with the shuttle on another level).

[0062] Figures 5A to 5E Operation of another shuttle configuration according to various embodiments of the present disclosure is shown. As shown, the shuttle can be sized to accommodate a single object (e.g., with a width slightly larger than the object's width). Figure 5G This is a flowchart illustrating the operation of a shuttle according to various embodiments, such as... Figures 5A to 5F The shuttle shown. Figure 5F It is shown in the reference Figures 5A to 5E as well as Figure 5G The flowchart describes a side view of an exemplary shuttle used in the operation. As shown, the shuttle may include a load bed rotation mechanism 500 configured to rotate the load bed 206 as described herein. Additionally, the shuttle may include a single object rotation mechanism 510 configured to rotate only a single object (e.g., a first object 112A). See now. Figure 5G The method for retrieving the second object 112B from frames 550 and 560 may include: aligning the shuttle with a storage location accommodating a first object at a first depth and a second object at a second depth, wherein the second depth is greater than the first depth; and retrieving the first and second objects from the storage location. In various embodiments, the first object 112A and the second object 112B may be retrieved via a first load arm 200 and / or a second load arm 202, as described in reference... Figure 4A The positions of the first object 112A and the second object 112B that were retrieved are shown in the figure. Figure 5A In the middle. For example Figure 5G As shown in box 570 and as Figure 5B and Figure 5C As shown, the object load bed 206 can rotate approximately 180 degrees, bringing the first object closer to its initial storage position 116. In various embodiments, the entire shuttle can be rotated via the load bed rotation mechanism 500. Alternatively, a portion of the shuttle can remain stationary (e.g., portion 520 of the shuttle, including wheels 170 engaging the shuttle tracks), and the object load bed 206 can be rotated via the load bed rotation mechanism 500, such as... Figure 5F As shown. Figure 5G As shown in box 580 and also as Figure 5D As shown, the shuttle can be configured to rotate the first object 112A by approximately 180 degrees. In some embodiments, the first object can be rotated via a single object rotation mechanism 510. Thus, the single object rotation mechanism 510 can rotate independently of the load bed 206, such that only the object on the single object rotation mechanism 510 (e.g., the first object 112A) rotates. In various embodiments, the rotation of the object load bed 206 and the first object 112A can be generated via a single rotational force mechanism (e.g., the shuttle may have a switch between the rotational force mechanism and the object load bed 206). In various embodiments, the first object 112A can then be placed in a storage position. Figure 5G The frame is 590 and also like Figure 5E As shown, the load bed 206 can then be rotated at least about 180 degrees. In some embodiments, the load bed 206 can be rotated back to its initial orientation (e.g., rotated about 180 degrees to return to its original orientation). Figure 5A(The orientation shown). As with other exemplary embodiments, the shuttle can then move the second object to its intended destination (e.g., to the vertical lift 110 and ultimately to the discharge conveyor 108). The various embodiments described herein can also be used to move objects from one storage location to another.

[0063] Figure 5H This is a flowchart illustrating the operation of a shuttle according to various embodiments, such as... Figures 5A to 5F The shuttle shown. Figure 5H The operation is similar to Figure 5G The operation described herein pertains to the situation where the first object 112A is loaded onto the load bed and the second object 112B is positioned between the load bed and the storage location. See now. Figure 5H Reference box 555, the method of placing the first object and the second object in the storage position includes aligning the shuttle with the shuttle position, as described in reference box 550. Now see Figure 5H The method of placing the first object and the second object in the storage location, as described herein, includes retrieving the first object from the storage location. The first and second objects can be retrieved via a first arm 200 and / or a second arm 202 as described herein. Figure 5H As shown in box 565, the object load bed 206 is rotatable by approximately 180 degrees, allowing the second object 112B to be moved closer to the target storage location. In various embodiments, the entire shuttle can be rotated via the load bed rotation mechanism 500. Alternatively, a portion of the shuttle can remain stationary (e.g., portion 520 of the shuttle, including wheels 170 engaging the shuttle tracks), and the object load bed 206 can be rotated via the load bed rotation mechanism 500, such as... Figure 5F As shown. Figure 5H As shown in box 575, the shuttle can be configured to rotate the second object 112B by approximately 180 degrees. In some embodiments, the second object 112B can be rotated via a single object rotation mechanism 510. In various embodiments, the single object rotation mechanism 510 can be configured as part of a load bed 206 configured to rotate (e.g., via hydraulic, motorized operation, etc.). In some embodiments, the single object rotation mechanism 510 can be a raised surface (e.g., as shown in box 575). Figure 5F (As shown). In various embodiments, the single object rotation mechanism 510 can rotate independently of the load bed 206, such that only the object on the single object rotation mechanism 510 (e.g., the second object 112B) rotates. In various embodiments, the rotation of the object load bed 206 and the second object 112B can be generated via a single rotational force mechanism (e.g., the shuttle may have a switch between the rotational force mechanism and the object load bed 206).

[0064] See now Figure 5HAccording to box 585, the method may further include placing a second object in the storage location. The second object 112B can be placed in the storage location using a first load arm 200 and / or a second load arm 202. In various embodiments, the second object 112B may be positioned at a second depth such that another object can be placed within the storage location at a first depth less than the second depth. See now. Figure 5H According to box 595, the method may include rotating the object load bed 206 by at least about 180 degrees. In some embodiments, the load bed 206 may be rotated back to its initial orientation (e.g., rotated about 180 degrees to return to its original orientation). Figure 5A (The orientation shown). As with other exemplary embodiments, the shuttle can then move the first object 112A to a storage location (e.g., at a first depth in front of the second object 112B). See now. Figure 5H In frame 597, the method of placing a first object and a second object in a storage location includes placing the first object at a first depth in the storage location. As described herein, the first object may be placed at a depth less than that of the second object in the same storage location as the second object. In various embodiments, the first object may be placed in the storage location via a first arm 200 and / or a second arm 202.

[0065] The various operations described herein can be performed by a controller having a processor, etc. Therefore, the operations can be autonomous (e.g., the program determines the shuttle's operation) and / or manual (e.g., a user can control at least a portion of the shuttle's operation described herein). As mentioned above, the operations described herein allow for a reduction in required reserved space and / or a reduction in the amount of unnecessary operations performed by the shuttle during operation. The various embodiments described herein allow for more efficient retrieval and storage using AS / RS.

[0066] While this disclosure has been described with reference to exemplary embodiments, those skilled in the art will understand that various changes can be made and elements can be replaced with equivalents without departing from the scope of this disclosure. Furthermore, many modifications can be made to adapt a particular system, device, or component thereof to the teachings of this disclosure without departing from its essential scope. Therefore, this disclosure is not intended to be limited to the specific embodiments disclosed for implementing the contents of this disclosure, but rather to include all embodiments falling within the scope of the appended claims. Moreover, unless otherwise specified, the use of the terms first, second, etc., does not indicate any order or importance, but rather is used to distinguish one element from another.

[0067] According to various aspects of this disclosure, an element, or any part thereof, or any combination thereof, can be implemented as a “processing system.” A processor can be embodied in a variety of different ways. For example, a processor can be embodied as one or more of a variety of hardware processing devices, such as a coprocessor, microprocessor, controller, digital signal processor (DSP), processing element with or without an accompanying DSP, or various other processing circuits, including integrated circuits such as ASICs (Application-Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), microcontroller units (MCUs), hardware accelerators, special-purpose computer chips, etc.

[0068] In exemplary embodiments, the processor may be configured to execute instructions stored in a memory device or otherwise accessible to the processor. Alternatively or otherwise, the processor may be configured to perform hard-coded functions. Thus, whether configured by hardware or software methods, or by a combination thereof, the processor may represent an entity capable of performing operations and being configured accordingly (e.g., physically embodied in circuit form) according to embodiments of the invention.

[0069] The foregoing description of the disclosed aspects is intended to enable any person skilled in the art to implement or use this disclosure. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0070] Based on the exemplary system described above, methods that can be implemented according to the disclosed subject matter have been described with reference to several flowcharts. While these methods are shown and described as a series of actions for the sake of simplicity, it should be understood and recognized that the claimed subject matter is not limited by the order of the blocks, as some blocks may be performed in a different order and / or concurrently with other blocks depicted and described herein. Furthermore, implementing the methods described herein may not require all of the shown blocks. Additionally, it should be understood that the methods disclosed herein can be stored on an article of art, thereby facilitating the delivery and transfer of these methods to a computer. As used herein, the term article of art is intended to encompass a computer program accessible from any computer-readable device, carrier, or medium.

[0071] It should be understood that any patent, publication, or other disclosure described as being incorporated herein by reference, in whole or in part, is incorporated only to the extent that the incorporated material does not conflict with any existing definitions, statements, or other disclosures set forth in this disclosure. Therefore, and to the extent necessary, the disclosures expressly set forth herein supersede any conflicting material incorporated herein by reference. Any material, or portions thereof, described as being incorporated herein by reference but conflicting with existing definitions, statements, or other disclosures described herein will be incorporated only if there is no conflict between the incorporated material and any existing disclosures.

Claims

1. A method for retrieving an object from a multi-depth object storage device, the method comprising: Align the shuttle with the storage location, the storage location being able to accommodate at least a first object at a first depth of the storage location and a second object at a second depth of the storage location, wherein the first depth is less than the second depth, such that the second object blocks the path of the first object to the storage location; By moving the load arm of the shuttle to engage with the second object and moving the second object toward the first object, such that both the first object and the second object move to the object load bed of the shuttle, the first object is taken from the storage position to a first position on the object load bed of the shuttle and the second object is taken from the storage position to a second position on the object load bed of the shuttle. Manipulating the first object and the second object, the manipulation including moving the second object in a first vertical direction via a lifting mechanism such that the path from the first object to the storage position is not obstructed by the second object, and returning the first object to the storage position via the unobstructed path; and The second object is moved in a second vertical direction opposite to the first vertical direction via the lifting mechanism, so that the second object returns to the second position on the object load bed of the shuttle.

2. The method according to claim 1, wherein, The object load bed defines a first chamber and a second chamber, wherein the object load bed is configured to hold the first object and the second object respectively in the first chamber and the second chamber when removed from the storage location.

3. The method according to claim 2, wherein, The shuttle includes at least a first load arm and a second load arm constructed along the side of the object load bed, wherein each of the first load arm and the second load arm defines one or more fingers configured to engage with a given object during operation.

4. The method according to claim 2, wherein, The shuttle includes at least a first load arm and a second load arm, wherein the first load arm is configured along the side of the object load bed, and the second load arm is configured to be located approximately at the center of the object load bed, wherein each of the first and second load arms defines one or more fingers configured to engage with a given object during operation.

5. The method according to claim 2, wherein, The shuttle includes one or more propulsion mechanisms to move a given object laterally.

6. The method according to claim 3, wherein, The shuttle defines a third load arm, which is positioned at least substantially centered relative to the width of the object load bed.

7. The method according to claim 6, wherein, The shuttle also defines a fourth load arm positioned adjacent to the third load arm, which is positioned at least substantially centered relative to the width of the object load bed, wherein the third load arm includes one or more arm fingers configured to engage with an object in the first chamber, and the fourth load arm includes one or more arm fingers configured to engage with an object in the second chamber.

8. The method according to claim 6, wherein, The third load arm separates the first chamber and the second chamber, and removing the first object and the second object from the storage location includes: The first object is removed via the first load arm and the third load arm, such that the first object is placed in the first chamber of the object load bed; Move the shuttle car so that the second chamber is aligned with the storage location; and The second object is removed via the second load arm and the third load arm, such that the second object is placed in the second chamber of the object load bed.

9. The method according to claim 3, wherein, The object loading bed includes a lifting mechanism to move the given object in a first direction during operation, wherein manipulating the first object and the second object includes moving the second object in the first direction via the lifting mechanism such that the first object can be positioned in the storage location, wherein the first direction is defined as either vertical or horizontal.

10. The method according to claim 3, wherein, Manipulating the first object and the second object includes rotating the object load bed of the shuttle by at least about 180 degrees, such that the first object can be placed in the storage position while the second object remains on the shuttle.

11. A shuttle configured for retrieving objects from a multi-depth object storage device, the shuttle comprising an object loading bed and a plurality of loading arms, the object loading bed being configured to hold at least a first object and a second object upon retrieval from a storage location, each loading arm having at least one finger, the shuttle being configured to: Aligned with a storage location, the storage location at least accommodates a first object at a first depth and a second object at a second depth, wherein, The first depth is less than the second depth, so that the second object blocks the path of the first object to the storage location; By moving the load arm of the shuttle to engage with the second object and moving the second object toward the first object, such that both the first object and the second object move to the object load bed of the shuttle, the first object is taken from the storage position to a first position on the object load bed of the shuttle and the second object is taken from the storage position to a second position on the object load bed of the shuttle. Manipulating the first object and the second object includes moving the second object in a first vertical direction via a lifting mechanism such that the path from the first object to the storage position is not blocked by the second object, and placing the first object back into the storage position via the unobstructed path. as well as The second object is moved in a second vertical direction opposite to the first vertical direction via the lifting mechanism, so that the second object returns to the second position on the object load bed of the shuttle, and The shuttle also includes one or more propulsion mechanisms to move a given object laterally.

12. The shuttle according to claim 11, wherein, The shuttle includes at least a first load arm and a second load arm constructed along the side of the object load bed, wherein each of the first load arm and the second load arm defines one or more fingers configured to engage with the given object during operation.

13. The shuttle according to claim 11, further comprising at least a first load arm and a second load arm, wherein, The first load arm is constructed along the side of the load bed, and the second load arm is constructed at approximately the center of the object load bed, wherein each of the first and second load arms defines one or more fingers configured to engage with the given object during operation.

14. The shuttle according to claim 12, wherein, The object load bed defines a first chamber and a second chamber, wherein the first chamber and the second chamber are each configured to support at least one object therein.

15. The shuttle according to claim 14, wherein, The shuttle also includes a third load arm, which is positioned at least substantially centered relative to the width of the object load bed.

16. The shuttle according to claim 15, wherein, The third load arm separates the first chamber and the second chamber, and removing the first object and the second object from the storage location includes: The first object is removed via the first load arm and the third load arm, such that the first object is placed in the first chamber of the object load bed; Move the shuttle car so that the second chamber is aligned with the storage location; and The second object is removed via the second load arm and the third load arm, such that the second object is placed in the second chamber of the object load bed.

17. The shuttle according to claim 13, wherein, The object loading bed includes a lifting mechanism to move the given object in a first direction during operation, wherein manipulating the first object and the second object includes moving the second object in the first direction via the lifting mechanism such that the first object can be positioned in the storage location, wherein the first direction is defined as either vertical or horizontal.

18. The shuttle according to claim 13, wherein, Manipulating the first object and the second object includes rotating the object load bed of the shuttle by at least about 180 degrees, such that the first object can be placed in the storage position while the second object remains on the shuttle.

Images