MATERIAL HANDLING VEHICLE AND GOODS STORAGE AND RETRIEVAL SYSTEM COMPRISING MOBILE STORAGE CARTS, CONVEYORS AND MATERIAL HANDLING VEHICLES

Abstract

Product storage and retrieval systems and material handling vehicles are provided. The product storage and retrieval system includes a multi-level warehouse racking system; a material handling vehicle comprising a mast assembly, a picking attachment, and vehicle-based cart docking hardware; a mobile storage cart; and a conveyor comprising conveyor-based docking hardware. The conveyor-based docking hardware enables the conveyor to engage, transport, and unengage the mobile storage cart. The vehicle-based cart docking hardware is coupled to the mast assembly to (i) engage and unengage the mobile storage cart and (ii) transport the mobile storage cart to multiple levels of the multi-level warehouse racking system.The mast assembly and picking attachment are configured to access multiple levels of the multi-level storage depot racking system. The picking attachment is configured to transfer totes between the multi-level storage depot racking system and the mobile storage cart.

Description

MATERIAL HANDLING VEHICLE AND GOODS STORAGE AND RETRIEVAL SYSTEM COMPRISING MOBILE STORAGE CARTS, CONVEYORS AND MATERIAL HANDLING VEHICLES DESCRIPTION OF THE INVENTION This description refers to a product storage and retrieval system in a warehouse environment. The system functionally integrates a multi-level warehouse racking system, one or more material handling vehicles, one or more mobile storage carts, and one or more conveyors.For the purposes of defining and describing the concepts and scope of this description, it is noted that a storage facility encompasses any indoor or outdoor industrial facility where material handling vehicles transport products, including, but not limited to, indoor or outdoor industrial facilities that are primarily intended for the storage of products, such as those where multi-level racking is arranged in aisles, and manufacturing facilities where products are transported around the facility by material handling vehicles for use in one or more manufacturing processes. In accordance with the subject of this description, consumer goods storage depot systems are provided to increase the adaptability, utility, and efficiency of partially and fully autonomous material handling vehicles and conveyors in the storage depot environment. According to one embodiment of the present description, and in a first aspect, a product storage and retrieval system is provided. The product storage and retrieval system comprises a multi-level storage warehouse racking system, a material handling vehicle comprising vehicle-based cart coupling hardware, a mast assembly and picking attachment, a mobile storage cart, and a conveyor comprising conveyor-based coupling hardware.Conveyor-based docking hardware allows the conveyor to hook up, transport, and unhook the mobile storage cart at a variety of locations along an inventory transit surface of the product storage and retrieval system independently of the movement of the material handling vehicle within the product storage and retrieval system.The vehicle-based cart docking hardware is coupled to the mast assembly to move along a lift dimension of the mast assembly to (i) engage and disengage the mobile storage cart at a variety of locations along the inventory transit surface independently of the conveyor's movement within the product storage and retrieval system and (ii) transport the mobile storage cart to multiple levels of the multi-level storage warehouse racking system independently of the conveyor's movement within the product storage and retrieval system. The mast assembly and picking attachment are configured to access multiple levels of the multi-level storage warehouse racking system.The material handling vehicle's picking attachment is configured to transfer totes between the multi-level storage depot racking system and the multi-level mobile storage cart of the multi-level storage depot racking system when the material handling vehicle hooks up the mobile storage cart. According to another embodiment of the present description, and in a second aspect, a product storage and retrieval system is provided. The product storage and retrieval system comprises a multi-level warehouse racking system, a material handling vehicle, a mobile storage cart, a conveyor comprising conveyor-based coupling hardware and a lifting surface, a warehouse management computer center, and a product receiving station.The material handling vehicle comprises vehicle-based cart docking hardware, one or more vehicle controllers, a mast assembly, a picking attachment configured to access multiple levels of the multi-level storage depot racking system, a navigation subsystem comprising a vision system, and a picking attachment subsystem comprising the picking attachment and a time-of-flight (TOE) system. The conveyor-based docking hardware enables the conveyor to engage, transport, and unengage the mobile storage cart at a variety of locations along an inventory transit surface of the product storage and retrieval system, independently of the material handling vehicle's movement within the product storage and retrieval system.The lifting surface is structurally configured to raise the mobile storage cart off the inventory transit surface on which the multi-level storage warehouse racking system rests by raising the conveyor's lifting surface from a travel height to a transport height. The mobile storage cart is structurally configured to allow the conveyor to enter and exit a lifting zone beneath the mobile storage cart in at least two orthogonal directions, with the conveyor's lifting surface at the travel height.The vehicle-based cart docking hardware is coupled to the mast assembly to move along a lift dimension of the mast assembly to (i) engage and disengage the mobile storage cart at a variety of locations along the inventory transit surface independently of the conveyor's movement within the product storage and retrieval system, and (ii) transport the mobile storage cart to multiple levels of the multi-level storage depot racking system independently of the conveyor's movement within the product storage and retrieval system. The multi-level storage depot racking system comprises a target fiducial associated with the target tote to guide the engagement of the target tote with the picking attachment.The navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within the field of view of the vision system. The material handling vehicle's picking attachment comprises a Z-Y-Z-Y positioner and is configured to transfer totes between the multi-level storage depot racking system and the multi-level mobile storage cart of the multi-level storage depot racking system when the material handling vehicle engages the mobile storage cart. The picking attachment subsystem is configured to generate a target TOE depth map of a target tote.One or more vehicle controllers of the material handling vehicle execute vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment subsystem to engage the target tote with the picking attachment based on the vision system's field of view and the target TOE depth map. The storage depot management computer center communicates with the conveyor and the material handling vehicle and is programmed to instruct the conveyor and the material handling vehicle to coordinate the coupling, transport, and uncoupling of the mobile storage cart within the product storage and retrieval system. The product receiving station comprises a product picking terminal equipped for removing totes from the mobile storage cart. According to another modality of the present zQcrnn / cznz / q / uli description, and in a third aspect, a material handling vehicle is provided.The material handling vehicle comprises a vehicle body; a plurality of wheels supporting the vehicle body and defining a direction of travel for the vehicle body; a braking system, a traction control unit, and a steering mechanism assembly, each operatively coupled to one or more of the plurality of wheels; a mast assembly; a single-fork carrier assembly coupled to the mast assembly for movement along a lifting dimension of the mast assembly; and a transport, coupling, or uncoupling attachment configured to facilitate the transport, coupling, or uncoupling of materials by the material handling vehicle, wherein the single-fork carrier assembly comprises a hollow body portion accommodating at least a portion of the transport, coupling, or uncoupling attachment therein. According to another embodiment of the present description, and in a fourth aspect, a product storage and retrieval system is provided. The product storage and retrieval system comprises a multi-level storage depot racking system comprising a tote transfer zone, a material handling vehicle comprising a mast assembly and a picking attachment, a target tote, and a conveyor comprising conveyor-based coupling hardware. The conveyor-based coupling hardware enables the conveyor to engage, transport, and disengage the target tote in the tote transfer zone independently of the movement of the material handling vehicle within the product storage and retrieval system.The picking attachment is coupled to the mast assembly for movement along one lift dimension of the mast assembly to (i) engage and disengage the target tote in the tote transfer zone and on multiple levels of the multi-level storage warehouse racking system, independent of the conveyor's movement within the product storage and retrieval system, and (ii) transport the target tote to the tote transfer zone and on multiple levels of the multi-level storage warehouse racking system, independent of the conveyor's movement within the product storage and retrieval system. The mast assembly and picking attachment are configured to access multiple levels of the multi-level storage warehouse racking system. According to another embodiment of the present description, and in a fifth aspect, a method is provided for operating a product storage and retrieval system. The method comprises providing the product storage and retrieval system comprising a multi-level storage depot racking system, a material handling vehicle disposed on an inventory transit surface, a tote transfer zone, a target tote, and a conveyor comprising conveyor-based coupling hardware.The material handling vehicle comprises a traction control unit, a braking system, and a steering mechanism assembly, each operatively coupled to one or more of the vehicle's wheels; a mast assembly, a fork carrier assembly movably coupled to the mast assembly, a mast assembly control unit, a carrier control unit, a pickup attachment comprising a X-Y-Z-Ψ positioner secured to the fork carrier assembly, a navigation subsystem; and one or more vehicle controllers communicating with the traction control unit, the braking system, the steering mechanism assembly, the mast assembly control unit, the carrier control unit, the pickup attachment, and the navigation subsystem.The method further comprises navigating the material handling vehicle along the transit surface of the inventory area to the target tote using the navigation subsystem and one or more vehicle controllers independent of the conveyor movement within the product storage and retrieval system. The method further comprises coupling or uncoupling the target tote with the picking attachment secured to the fork carrier assembly using the X-Y-Z-Ψ positioner in the tote transfer zone and on multiple levels of the multi-level storage depot racking system, independently of the conveyor movement within the product storage and retrieval system.The method further comprises placing the target tote with the picking attachment in the tote transfer zone or on a level of the multi-level storage depot racking system; and hooking the target tote to the conveyor using conveyor-based coupling hardware comprising a conveyor lifting surface. Another aspect may include any of the above aspects, wherein the vehicle-based cart docking hardware comprises a mobile storage cart support platform defined by one or more vertically oriented cart lifting forks. Another aspect may include any of the above aspects, wherein the vehicle-based zQcenn / eznz / q / uli cart docking hardware comprises anti-oscillation cart docking hardware configured to hook onto an upper end of the mobile storage cart. Another aspect may include any of the above aspects, wherein the anti-oscillation cart docking hardware comprises a pair of support arms configured to hook onto the top end of the mobile storage cart. Another aspect may include any of the above aspects, wherein the anti-oscillation trolley coupling hardware comprises lateral anti-oscillation hardware in which each support arm comprises an extension that subtends the hook, and the mobile storage trolley comprises a pair of extension passages structurally configured to allow the hook-subtending extensions to pass at least partially through the pair of extension passages. Another aspect may include any of the above aspects, wherein the anti-oscillation trolley coupling hardware comprises front-to-rear anti-oscillation hardware where each support arm comprises an anti-oscillation hook defining a notch, the anti-oscillation hook extending downwards into a distal portion of the support arm to define an engagement space between an extension subtending the hook and a terminal portion of the anti-oscillation hook, and the mobile storage trolley comprises hook coupling features structurally configured to engage the anti-oscillation hooks of the pair of support arms. Another aspect may include any of the above aspects, wherein: each support arm comprises an anti-oscillation hook that defines a notch and an extension that subtends the hook; and the anti-oscillation hook extends downwards into a distal portion of the support arm to define a coupling space between the extension that subtends the hook and a terminal portion of the anti-oscillation hook. Another aspect may include any of the above aspects, wherein the mobile storage cart comprises: hook coupling features structurally configured to engage the anti-oscillation hooks of the pair of support arms; and a pair of extension passages structurally configured to allow extensions subtending the hooks to pass at least partially through the pair of extension passages to allow the anti-oscillation hooks of the pair of support arms to engage the hook coupling features of the mobile storage cart while the pair of support arms are coupled to an upper end of the mobile storage cart. Another aspect may include any of the above aspects, where the mobile storage cart comprises a conveyor access opening that is sized and configured to allow the conveyor to enter and exit through the conveyor access opening along the inventory transit surface. Another aspect may include any of the above aspects, where: the mobile storage cart comprises at least two vertically oriented fork slots; the vehicle-based cart docking hardware comprises a mobile storage cart support platform defined by one or more vertically oriented cart lifting forks; and the vertically oriented lifting slots are structurally configured to receive the vertically oriented cart lifting forks. Another aspect may include any of the above aspects, wherein: the conveyor comprises a lifting surface and is structurally configured to lift the mobile storage cart off the inventory transit surface on which the multi-level storage depot racking system rests by raising the conveyor's lifting surface from a travel height to a transport height; and the mobile storage cart is structurally configured to allow the conveyor to enter and exit a lifting zone beneath the mobile storage cart in at least two orthogonal directions, with the conveyor's lifting surface at the travel height. Another aspect may include any of the above aspects, wherein: the material handling vehicle further comprises a vehicle body, a plurality of wheels supporting the vehicle body, a traction control unit, a braking system, and a steering mechanism assembly, each operatively coupled to one or more of the vehicle wheels, a fork carrier assembly movably coupled to the mast assembly, a mast assembly control unit, a carrier control unit, the picking attachment secured to the fork carrier assembly, a trolley coupling subsystem, a navigation subsystem, and one or more vehicle controllers communicating with the traction control unit, the braking system, the steering mechanism assembly, the mast assembly control unit, and the carrier control unit.the picking attachment, the vehicle-based cart docking hardware, and the navigation subsystem; the cart docking subsystem is characterized by a storage cart docking field of view; and one or more vehicle controllers of the material handling vehicle execute vehicle functions to (i) use the navigation subsystem to navigate the material handling vehicle along the inventory transit surface to a localized docking position where the cart's initial position is within the storage cart docking field of view, and (ii) use the cart docking subsystem to dock the mobile storage cart at the cart's initial position with the fork carrier assembly. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises one or more vehicle controllers; the picking attachment comprises a X-Y-Z-Ψ positioner; and one or more vehicle controllers perform vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment to hook and unhook a target tote placed on the racking system of the multi-level storage depot or placed on the mobile storage cart with the picking attachment. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises a navigation subsystem comprising a vision system; the racking system of the multi-level storage depot comprises a target fiducial associated with the target tote to guide the coupling of the target tote with the picking attachment; the navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within a field of view of the vision system; the material handling vehicle further comprises one or more vehicle controllers and a picking attachment subsystem comprising the picking attachment and a time-of-flight (TOE) system; the picking attachment comprises a X-Y-Z-Ψ positioner;The picking attachment subsystem is configured to generate a target TOF depth map of a target tote; and one or more vehicle controllers of the material handling vehicle execute vehicle functions to use the X-YZ-Ψ positioner of the picking attachment subsystem to engage the target tote with the picking attachment based on the field of view of the vision system and the TOF depth map of the target. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises a navigation subsystem; and the navigation subsystem is configured to position the material handling vehicle such that the target tote is within a docking tote field of view of the TOF system. Another aspect may include any of the above aspects, wherein the collection attachment comprises a zQcrnn / cznz / q / uili X-Y-Z-Ψ positioner comprising: an X positioner configured to move the collection attachment in a first degree of freedom along a first lateral axis in a lateral plane; a Y positioner configured to move the collection attachment in a second degree of freedom along a second lateral axis perpendicular to the first lateral axis in the lateral plane; a Z positioner configured to move the collection attachment in a third degree of freedom along a Z-axis perpendicular to the first lateral axis and the second lateral axis; and a rotating Ψ positioner configured to rotate the collection attachment in a fourth degree of freedom about the Z-axis. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises a navigation subsystem comprising a vision system; the multi-level storage depot racking system comprises a target fiducial associated with the target tote to guide the coupling of the target tote with the picking attachment; and the navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within a field of view of the vision system. Another aspect may include any of the above aspects, wherein the navigation subsystem is configured to use the target fiducial of the multi-level storage depot shelving system to position the material handling vehicle so that the target tote is within a field of view of a pickup attachment subsystem. Another aspect may include any of the above aspects, wherein: the multi-level storage depot racking system comprises a plurality of target fiducials associated with the target tote; and one of the target fiducials is placed in the rack module shelf unit; and another of the target fiducials is placed in the target tote. Another aspect may include any of the above aspects, which further comprises a product receiving station comprising a product selection terminal equipped for removing totes from the mobile storage cart. Another aspect may include any of the above aspects, further comprising a product receiving station, a product picking terminal, and an intermediate transfer station, wherein: the product picking terminal is equipped for the removal of totes from the mobile storage cart; and the intermediate transfer station is situated along a mobile storage cart travel path that extends from a mobile storage cart transfer node to the product receiving station. Another aspect may include any of the above aspects, which further comprises a storage depot management computer center in communication with the conveyor and material handling vehicle and programmed to instruct the conveyor and material handling vehicle to coordinate the coupling, transport and uncoupling of the mobile storage cart in the product storage and retrieval system. Another aspect may include any of the above aspects, further comprising a plurality of REID tags embedded in the inventory transit surface at vehicle detention locations, tote transfer zones, transfer nodes, pickup site locations, or combinations thereof. Another aspect may include any of the above aspects, further comprising a target fiducial associated with a target tote, wherein the target fiducial is disposed on a shelf module of the multi-level storage depot racking system, the target tote, or both, to guide the coupling of the target tote with the picking attachment. Another aspect may include any of the above aspects zQcrnn / cznz / q / uli, wherein: the single-fork carrier assembly defines an operator compartment width that is oriented across the direction of travel of the vehicle body; the operator compartment width is between about 100 cm and about 125 cm; the single-fork carrier assembly comprises a unitary material handling platform that is oriented transversely to the direction of travel of the vehicle body and defines a platform width parallel to the operator compartment width; and the platform width is at least about 75 cm and is less than the operator compartment width. Another aspect may include any of the above aspects, where: the unitary material handling platform comprises a front face that is oriented across the direction of travel of the vehicle body; and the front face of the platform forms a projecting arc that extends across the width of the platform and projects along the direction of travel of the vehicle body. Another aspect may include any of the above aspects, where: the unit material handling platform comprises at least two opposing pairs of vertically oriented trolley stabilizers; the two opposing pairs of trolley stabilizers are located on opposite sides of the unit material handling platform along the direction of travel of the vehicle body; and each trolley stabilizer comprises an inclined contact edge facing an opposite inclined contact edge of a trolley stabilizer on an opposite side of the unit material handling platform. Another aspect may include any of the above aspects, where: the target tote has a tote width t; the target tote comprises a pair of protruding edges positioned on opposite sides of the target tote, defining a target tote flange width r; the tote transfer zone comprises a plurality of tote suspension rails defined by a separation rail b; yt < b < r. Another aspect may include any of the above aspects, in which the tote transfer zone forms a lower level of the multi-level storage depot racking system. Another aspect may include any of the above aspects, in which the tote transfer zone is raised above an inventory transit surface of the product storage and retrieval system. Another aspect may include any of the above aspects, wherein: the multi-level storage depot racking system comprises a first rack and a second rack arranged on opposite sides of a racking system aisle zQcrnn / cznz / q / uli; the first and second racks define endpoints of the racking system aisle; and the tote transfer zone extends beyond the endpoints of the racking system aisle. Another aspect may include any of the above aspects, wherein the conveyor comprises a lifting surface and is structurally configured to lift the target tote relative to a tote-supporting surface from the tote transfer zone by raising the conveyor's lifting surface from a travel height to a transport height. Another aspect may include any of the above aspects, in which the material handling vehicle's picking attachment is configured to transfer totes between (i) the multi-level storage depot racking system and the conveyor and (ii) the tote transfer zone and the conveyor. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises one or more vehicle controllers; the picking attachment comprises a X-Y-Z-Ψ positioner; and one or more vehicle controllers perform vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment to engage and disengage the target tote placed in the multi-level storage racking system with the picking attachment. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises one or more vehicle controllers; the picking attachment comprises a X-Y-Z-Ψ positioner; and one or more vehicle controllers perform vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment to engage and disengage the target tote placed on the conveyor with the picking attachment. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises a navigation subsystem comprising a vision system; the multi-level storage depot racking system comprises a target fiducial associated with the target tote to guide the coupling of the target tote with the picking attachment; the navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within a field of view of the vision system; the material handling vehicle further comprises one or more vehicle controllers and a picking attachment subsystem comprising the picking attachment and a time-of-flight (TOF) system; the picking attachment comprises a X-Y-Z-Ψ positioner;The collection attachment subsystem zQcrnn / cznz / q / uili is configured to generate a target TOF depth map of the target tote; and one or more vehicle controllers of the material handling vehicle execute vehicle functions to use the X-YZ-Ψ positioner of the collection attachment subsystem to engage the target tote with the collection attachment based on the target TOF depth map. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises a navigation subsystem; and the navigation subsystem is configured to position the material handling vehicle such that the target tote is within a docking tote field of view of the TOF system. Another aspect may include any of the above aspects, wherein the harvesting attachment comprises a X-Y-Z-Ψ positioner comprising: an X positioner configured to move the harvesting attachment in a first degree of freedom along a first lateral axis in a lateral plane; a Y positioner configured to move the harvesting attachment in a second degree of freedom along a second lateral axis perpendicular to the first lateral axis in the lateral plane; a Z positioner configured to move the harvesting attachment in a third degree of freedom along a Z-axis perpendicular to the first lateral axis and the second lateral axis; and a rotating Ψ positioner configured to rotate the harvesting attachment in a fourth degree of freedom about the Z-axis. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises a navigation subsystem comprising a vision system; the multi-level storage depot racking system comprises a target fiducial associated with the target tote to guide the coupling of the target tote with the picking attachment; and the navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within a field of view of the vision system. Another aspect may include any of the above aspects, wherein: the multi-level storage depot racking system comprises a plurality of target fiducials associated with the target tote; and one of the target fiducials is placed in the rack module shelf unit; and another of the target fiducials is placed in the target tote. Another aspect may include any of the above aspects, which further comprises a product receiving station comprising a product selection terminal equipped to remove the target tote from the conveyor lifting surface. zQcenn / eznz / q / uιλι Another aspect may include any of the above aspects, where: the product selection terminal comprises an operator platform above an inventory transit surface of the product storage and retrieval system; and the operator platform comprises a product access portal that can be accessed by an operator from above the operator platform and the conveyor from below the operator platform. Another aspect may include any of the above aspects, where the conveyor is further configured to raise the conveyor lifting surface to the height of the operator's platform. Another aspect may include any of the above aspects, where the product selection terminal comprises a conveyor lifting surface that is flush with the inventory transit surface, aligned with the product access portal, and configured to lift the conveyor from the inventory transit surface of the product storage and retrieval system to the operator platform. Another aspect may include any of the above aspects, which further comprises a storage depot management computer center in communication with the conveyor and material handling vehicle and programmed to instruct the conveyor and material handling vehicle to coordinate the coupling, transport and uncoupling of the target tote in the product storage and retrieval system. Another aspect may include any of the above aspects, further comprising a plurality of RFID tags embedded in the inventory transit surface at vehicle stop locations, tote transfer zones, transfer nodes, pickup location locations, or combinations thereof. Another aspect may include any of the above aspects, further comprising a mobile storage cart and wherein: the conveyor further comprises conveyor-based coupling hardware that enables it to hook, carry, and unhook the mobile storage cart at a variety of locations along an inventory transit surface of the product retrieval and storage system independent of the movement of the material handling vehicle within the product retrieval and storage system;The material handling vehicle further comprises vehicle-based trolley coupling hardware that is coupled to the mast assembly to move along a lift dimension of the mast assembly to (i) hook up and unhook the mobile storage trolley at a variety of locations along the inventory transit surface independently of the conveyor movement within the product storage and retrieval system and (ii) transport the mobile storage trolley to multiple levels of the multi-level storage depot racking system independently of the conveyor movement within the product storage and retrieval system;and the material handling vehicle picking attachment is configured to (i) transfer totes between the multi-level storage depot racking system and the multi-level mobile storage cart of the multi-level storage depot racking system when the material handling vehicle engages the mobile storage cart, (ii) transfer totes between the tote transfer zone and the mobile storage cart when the mobile storage cart is engaged by the material handling vehicle, (iii) transfer totes between the multi-level storage depot racking system and the conveyor, and (iv) transfer totes between the tote transfer zone and the conveyor. Another aspect may include any of the above aspects, where the vehicle-based cart docking hardware comprises a mobile storage cart support platform defined by one or more vertically oriented cart lifting forks. zQcenn / eznz / q / uιλι Another aspect may include any of the above aspects, wherein the vehicle-based cart docking hardware comprises anti-oscillation cart docking hardware configured to hook onto an upper end of the mobile storage cart. Another aspect may include any of the above aspects, where the anti-oscillation cart docking hardware comprises a pair of support arms configured to hook onto the top end of the mobile storage cart. Another aspect may include any of the above aspects, wherein the anti-oscillation trolley coupling hardware comprises lateral anti-oscillation hardware in which each support arm comprises an extension that subtends the hook, and the mobile storage trolley comprises a pair of extension passages structurally configured to allow the hook-subtending extensions to pass at least partially through the pair of extension passages. Another aspect may include any of the above aspects, wherein the anti-oscillation trolley coupling hardware comprises front-to-rear anti-oscillation hardware where each support arm comprises an anti-oscillation hook defining a notch, the anti-oscillation hook extending downwards into a distal portion of the support arm to define an engagement space between an extension subtending the hook and a terminal portion of the anti-oscillation hook, and the mobile storage trolley comprises hook coupling features structurally configured to engage the anti-oscillation hooks of the pair of support arms. Another aspect may include any of the above aspects, wherein: each support arm comprises an anti-oscillation hook that defines a notch and an extension that subtends the hook; and the anti-oscillation hook extends downwards into a distal portion of the support arm to define a coupling space between the extension that subtends the hook and a terminal portion of the anti-oscillation hook. Another aspect may include any of the above aspects, wherein the mobile storage cart comprises: hook coupling features structurally configured to engage with the anti-swing hooks of the pair of support arms; and a pair of extension passages structurally configured to allow extensions subtending the hooks to pass at least partially through the pair of extension passages to allow the anti-swing hooks of the pair of support arms to engage with the hook coupling features of the mobile storage cart while the pair of support arms are coupled to an upper end of the mobile storage cart. Another aspect may include any of the above aspects, wherein the mobile storage cart comprises a conveyor access opening that is sized and configured to allow the conveyor to enter and exit through the conveyor access opening along the inventory transit surface. Another aspect may include any of the above aspects, where: the mobile storage cart comprises at least two vertically oriented fork slots; the vehicle-based cart docking hardware comprises a mobile storage cart support platform defined by one or more vertically oriented cart lifting forks; and the vertically oriented fork slots are structurally configured to receive the vertically oriented cart lifting forks. Another aspect may include any of the above aspects, wherein: the conveyor comprises a lifting surface and is structurally configured to lift the mobile storage cart off the inventory transit surface on which the multi-level storage depot racking system rests by raising the conveyor's lifting surface from a travel height to a transport height; and the mobile storage cart is structurally configured to allow the conveyor to enter and exit a lifting zone beneath the mobile storage cart in at least two orthogonal directions, with the conveyor's lifting surface at the travel height. Another aspect may include any of the above aspects, where: the material handling vehicle further comprises a vehicle body, a plurality of wheels supporting the vehicle body, a traction control unit, a braking system, and a steering mechanism assembly, each operatively coupled to one or more of the vehicle wheels, a fork carrier assembly movably coupled to the mast assembly, a mast assembly control unit, a carrier control unit, the picking attachment secured to the fork carrier assembly, a trolley coupling subsystem, a navigation subsystem, and one or more vehicle controllers communicating with the traction control unit, the braking system, the steering mechanism assembly, the mast assembly control unit, and the carrier control unit.the picking attachment, the vehicle-based cart docking hardware, and the navigation subsystem; the cart docking subsystem is characterized by a storage cart docking field of view; and one or more vehicle controllers of the material handling vehicle execute vehicle functions to (i) use the navigation subsystem to navigate the material handling vehicle along the inventory transit surface to a localized docking position where the cart's initial position is within the storage cart docking field of view, and (ii) use the cart docking subsystem to dock the mobile storage cart at the cart's initial position with the fork carrier assembly. Another aspect may include any of the above aspects, wherein engaging the target tote with the conveyor further comprises lifting the target tote relative to a surface supporting the tote from the tote transfer zone with the lifting surface of the conveyor. Another aspect may include any of the above aspects, which also includes transmitting, through a computer center for managing the storage depot, instructions to the material handling vehicle and the conveyor. Another aspect may include any of the above aspects, which further comprises: transporting the target tote zQcrnn / cznz / q / uli with the conveyor to a product receiving station comprising a product selection terminal; and removing the target tote from the conveyor's lifting surface. Another aspect may include any of the above aspects, in which removing the target tote also involves raising a conveyor lifting surface from an access height flush with the inventory transit surface to a picking height. Another aspect may include any of the above aspects, which also includes placing the target tote with the collection attachment on a conveyor lifting surface. Another aspect may include any of the above aspects, which further comprises: providing a mobile storage cart; coupling the mobile storage cart to the fork carrier assembly by using a material handling vehicle cart coupling subsystem; and placing the target tote with the picking attachment onto the mobile storage cart coupled by the fork carrier assembly. Another aspect may include any of the above aspects, further comprising: decoupling the mobile storage cart with the fork carrier assembly zQcrnn / cznz / q / uili by using a cart coupling subsystem from the material handling vehicle; hooking the mobile storage cart to the conveyor lifting surface; transporting the mobile storage cart with the conveyor to a product receiving station comprising a product picking terminal; and removing the target tote from the mobile storage cart. BRIEF DESCRIPTION OF THE DRAWINGS The following detailed description of specific modalities of the present description can be better understood when read together with the following drawings, where similar structure is indicated with similar reference numbers and in which: FIGURE 1 illustrates a product retrieval and storage system that includes a multi-level storage depot racking system, a plurality of material handling vehicles, a plurality of totes, a plurality of conveyors, and a plurality of mobile storage carts according to various embodiments shown and described herein; FIGURE 1A illustrates a product selection terminal that includes an operator platform, a product access portal, an operator, a conveyor, and a target tote according to various modalities shown and described herein; Figure IB illustrates a product selection terminal that includes an operator platform, a product access portal, an operator, a conveyor, and a target tote according to various modalities shown and described herein; FIGURE 1C illustrates a mobile storage cart and conveyor according to various embodiments shown and described herein; FIGURE ID illustrates a mobile storage cart and conveyor according to various embodiments shown and described herein; FIGURE 1E illustrates a tote transfer zone, a plurality of totes, and a conveyor according to various embodiments shown and described herein; FIGURE 1F illustrates a tote transfer zone, a plurality of totes, and a conveyor according to various embodiments shown and described herein; FIGURE 1G illustrates a tote transfer zone, a tote, and a conveyor according to various modalities shown and described herein; FIGURE 1H illustrates a tote transfer zone, a tote, and a conveyor according to various modalities shown and described herein; FIGURE 2 illustrates a material handling vehicle coupled to a mobile storage cart according to various modalities shown and described herein; FIGURE 3 illustrates a material handling vehicle coupled to a mobile storage cart according to various modalities shown and described herein; FIGURE 4 illustrates a material handling vehicle coupled to a mobile storage cart according to various modalities shown and described herein; FIGURE 5 illustrates a material handling vehicle that includes, among other things, a drive unit housing that contains a removable manual drive unit, a mobile storage cart with an anti-sway cart coupling mechanism and a mobile storage cart support platform, and a picking attachment positioned to engage a target tote according to various embodiments shown and described herein; FIGURE 5A is a schematic illustration of a product storage and retrieval system that includes a multi-level storage warehouse racking system, a plurality of material handling vehicles, and a plurality of mobile storage carts according to various modalities shown and described herein; FIGURE 5B illustrates a unitary material handling platform having carriage coupling sensors according to various modes shown and described herein; FIGURE 5C illustrates a material handling vehicle having carriage hitch sensors according to various modes shown and described herein; FIGURE 6 illustrates the collection accessory of FIGURE 5 according to various modalities shown and described herein; FIGURE 7 illustrates the picking attachment and material handling vehicle of FIGURE 5 in a position where a sliding portion of the picking attachment is in an extended position to retrieve the target tote or store the target tote in a rack module, according to various embodiments shown and described herein; FIGURE 7A illustrates an objective tote according to various modalities shown and described herein; FIGURE 7B illustrates a tote transfer zone and a plurality of target totes according to various modalities shown and described herein; FIGURE 8 illustrates the collection attachment and material handling vehicle of FIGURE 5 in a position in which the collection attachment slider has placed the target tote in the collection attachment in a secure position according to various modalities shown and described herein; FIGURE 9 illustrates the picking attachment and material handling vehicle of FIGURE 5 in a position in which the picking attachment is rotationally aligned with a shelf of the attached mobile storage cart and the slide guide is in an extended position to retrieve the target tote or store the target tote in the shelf according to various modalities shown and described herein; FIGURE 10 illustrates a front view of the mobile storage cart according to various modalities shown and described herein; FIGURE 11 illustrates a material handling vehicle with a single-fork carrier assembly according to various modalities shown and described herein; FIGURE 12 is a schematic illustration of several vehicle controllers of the material handling vehicle in communication with a manual drive unit and vehicle subsystems according to various modalities shown and described herein; FIGURE 13 illustrates the drive unit housing of FIGURE 5 in an open position to show the removable manual drive unit according to various modes shown and described herein; FIGURE 14 is a schematic illustration of a computer device according to several modalities shown and described herein; FIGURE 15 is a flowchart illustrating the methodology for acquiring carts according to various modalities shown and described herein; and FIGURE 16 is a flowchart illustrating the methodology for coupling the tote according to various modalities shown and described herein. Referring initially to FIGURE 1, a product storage and retrieval system 100 comprises a multi-level warehouse racking system 200, a material handling vehicle 300, a mobile storage cart 400, and a conveyor 500, arranged on an inventory transit area 110. The material handling vehicle 300 comprises vehicle-based cart docking hardware 316 (FIGURE 5), a mast assembly 302, and a picking attachment 320 (FIGURE 5). The multi-level warehouse racking system 200 comprises a tote transfer zone 219.As shown in FIGURES 1C and 1ID, the conveyor 500 comprises conveyor-based coupling hardware 540 that enables the conveyor 500 to couple, transport, and disconnect the mobile storage cart 400 by lifting a lifting surface 520 of the conveyor 500 to make contact with the mobile storage cart 400. Referring back to FIGURE 1, the conveyor 500 can couple, transport, and uncouple the mobile storage cart 400 at a variety of locations along an inventory transit surface 110 of the product storage and retrieval system 100, independent of the movement of the material handling vehicle 300 within the product storage and retrieval system 100.With reference to FIGURES 1, 1E and 1F, the conveyor-based coupling hardware 540 further enables the conveyor 500 to engage, transport, and disengage a target tote 214 in the tote transfer zone 219 by raising a lifting surface 520 of the conveyor 500 to contact the target tote 214 independently of the movement of the material handling vehicle 300 within the product storage and retrieval system 100. With reference to FIGURES 1 and 5, the vehicle-based cart coupling hardware 316 is coupled to the mast assembly 302 to move along a lift dimension (along the Z-axis as shown in FIGURE 1) of the mast assembly 302 to (i) engage and disengage the mobile storage cart 400 at a variety of locations along the inventory transit surface 110 independently of the movement of the conveyor 500 within the product storage and retrieval system 100 and (ii) transport the mobile storage cart 400 to multiple levels of the multi-level storage depot racking system 200 independently of the movement of the conveyor 500 within the product storage and retrieval system 100.The picking attachment 320 is coupled to the mast assembly 302 to move along a lift dimension of the mast assembly 302 to (i) hook and unhook the target tote in the tote transfer zone 219, the mobile storage cart 400, and on multiple, vertically spaced levels of the multi-level storage depot racking system 200 independently of the movement of the conveyor 500 within the product storage and retrieval system 100 and (ii) transport the target tote to the tote transfer zone 219, the mobile storage cart 400 and multiple levels of the multi-level storage depot racking system 200 independently of the movement of the conveyor 500 within the product storage and retrieval system 100. The mast assembly 302 and the picking attachment 320 of the zQcenn / eznz / q / uli collection system are configured to access multiple levels of the multi-level storage depot racking system 200. The picking attachment 320 of the material handling vehicle 300 is configured to transfer totes between the multi-level storage depot racking system 200 and the multi-level mobile storage cart 400 when the mobile storage cart 400 is engaged by the material handling vehicle 300. Alternatively, the picking attachment 320 of the material handling vehicle 300 can be configured to transfer totes between multiple levels of the multi-level storage depot racking system 200 and the conveyor 500.Additionally or alternatively, the material handling vehicle 300 picking attachment 320 can be configured to transfer totes between the conveyor 500 and the mobile storage cart 400 when the mobile storage cart 400 is engaged by the material handling vehicle 300. As described in more detail below, the product storage and retrieval system 100 may further comprise a cart starting position 410, one or more mobile storage cart transfer nodes 420, one or more product receiving stations 610, and one or more storage depot management computer centers. With reference still to FIGURES 1 and 5, the material handling vehicle 300 may further comprise a vehicle body 301, a plurality of wheels 306 supporting the vehicle body 301, a traction control unit 372, a braking system 371, and a steering mechanism assembly 373, each operatively coupled to one or more of the vehicle wheels 306. The material handling vehicle 300 may further comprise a mast assembly 302, a fork carrier assembly 310 movably coupled to the mast assembly 302, a mast assembly control unit 374, a carrier control unit 375, a pickup attachment 320 secured to the fork carrier assembly 310, a trolley coupling subsystem 350, and a navigation subsystem 360. Referring to FIGURES 5 and 12, the material handling vehicle 300 may comprise one or more vehicle controllers in communication with the traction control unit 372, the braking system 371, the steering mechanism assembly 373, the mast assembly control unit 374, the carrier device control unit 375, the picking attachment 320, the trolley coupling subsystem 350, and the navigation subsystem 360. Vehicle controllers may comprise a pickup controller 376 zQcenn / eznz / q / uili, a braking controller 377, a traction controller 378, a steering mechanism controller 379, a mast controller 380, or one or more integrated controllers, to control the operating functions of the pickup attachment 320, the braking system 371, the traction control unit 372, the steering mechanism assembly 373, or the mast assembly control unit 374.The vehicle controller(s) will be described in more detail later in the application. Although mast assembly 302 is shown in FIGURE 1 extending to the height of shelves 210, it is understood and within the scope of this description that mast assembly 302 may extend to different heights relative to shelves 210. For example, mast assembly 302 may be a multi-stage mast, with or without a free-lift feature. The material handling vehicles referred to above may include forklifts available from Crown Equipment Corporation, such as, for example, SP Series Order Pickers, such as the Crown SP 3500 / 4500 Series Order Picker, or TSP Series Order Pickers, such as the Crown TSP 6500 / 7000 Series Order Picker. With reference to FIGURE 5, the vehicle body 301 of the material handling vehicle 300 can be described as comprising a fork side 303 and a power unit side 304, with the fork carrier assembly 310 positioned on the fork side 303 of the vehicle body 301 and movably coupled to the mast assembly 302. The material handling vehicle 300 can also comprise an operator compartment 307, which can also be movably coupled to the mast assembly 302. This operator compartment 307 can be positioned between the fork carrier assembly 310 and the power unit side 304 of the vehicle body 301. In some embodiments, the material handling vehicle 300 does not include the operator compartment 307. With reference again to FIGURE 1, a variety of technologies can be provided to facilitate partial or fully autonomous navigation of the 300 material handling vehicle, including conventional or yet-to-be-developed technologies. For example, and without limitation, radio frequency identification (RFID) tags can be embedded in the 110 inventory transit surface, or secured to various objects in the storage depot, to help facilitate partial or fully autonomous navigation. Guide-wire systems, which are well documented in the art, can also be employed to help facilitate partial or fully autonomous navigation. In one contemplated embodiment, RFID tags embedded in the 110 inventory transit surface can be used in conjunction with a guide-wire system.In which case, it may be advantageous to embed REID 230 tags at vehicle stop locations, pick-up location locations, tote transfer zones, transfer node locations, or other significant navigation markers along an aisle of the racking system, as shown in FIGURE 1. Partial or fully autonomous navigation can also be implemented, by way of non-limiting examples, through laser-based navigation, time-of-flight cameras, environment-based location, aerial feature-based location, lighting invariant feature detection, map partitioning, prepositioned object-based location, and / or cross-edge detection-based location.Vehicle stopping locations can be recorded on a navigation map in the 360 ​​navigation subsystem (FIGURE 12) of the material handling vehicle 300 so that RFID tags 230 are not required for the material handling vehicle 300 to be correctly positioned at a vehicle stopping location. With reference to FIGURE 1, the mobile storage carts 400 can be presented as a multi-level storage cart 400 with individual container bays 430 configured to accommodate at least one tote 213 that can carry a plurality of different product types. In this embodiment, the mobile storage carts 400 are structurally configured to remain above an inventory transit surface 110 while allowing the conveyor to travel underneath. Specifically, the mobile storage cart 400 comprises a conveyor access opening 510 that is sized and configured to allow the conveyor 500 to enter and exit through one or more of a plurality of conveyor access openings 510 along the inventory transit surface 110.In addition, the mobile storage cart 400 comprises at least two vertically oriented fork slots 450 (shown in FIGURE 5). With reference to FIGURES 1-1G, the conveyor 500 comprises conveyor-based coupling hardware 540 that enables the conveyor 500 to transport mobile storage carts 400 from one or more mobile storage cart transfer nodes 420 to one or more product receiving stations 610 of the consumer product storage depot system 600.For example, the conveyor 500 may feature a lifting surface 520 (shown in FIGURE 1A) and be structurally configured to lift a mobile storage cart 400 off the inventory transit surface 110 on which the mobile storage cart 400 is supported by raising the conveyor's lifting surface from a travel height (as shown in FIGURES 1B and 1G) to a cart contact height (as shown in FIGURE 1C) and then to a transport height (as shown in FIGURES 1D and 1F). Returning to FIGURE 1, each of the mobile storage carts 400 can be structurally configured to allow the conveyor 500 to enter and exit a lifting zone 530 beneath the mobile storage cart 400 in at least two orthogonal directions, with the lifting surface of the conveyor 500 at the displacement height. Similarly, the conveyor 500 may have a lifting surface 520 and be structurally configured to lift the target tote 214, as shown in Figures 1E-1F. With reference to Figures 1, 1E-1G, 7A, and 7B, the target tote 214 has a width of t and comprises a pair of protruding edges 214A positioned on opposite sides of the target tote 214. These protruding edges 214A define a wide, rimmed target tote r. Totes can be of a variety of different sizes, ranging from smaller than the lifting surface 520 of the conveyor 500 to larger than the lifting surface 520 of the conveyor 500. In some embodiments, the bottom of tote 214 may be approximately the same size as the lifting surface 520 of the conveyor 500. In some embodiments, the length and width of tote 214 may be approximately equal.In other embodiments, the length of tote 214 may be greater than the width of tote 214. In some embodiments, the width and height of tote 214 may be approximately equal. In other embodiments, the height of tote 214 may be less than the width of tote 214. In other embodiments, the height of tote 214 may be greater than the width of tote 214. The tote transfer zone 219 comprises a plurality of tote suspension rails 219A defined by a separating rail b. For the totes 214 to rest safely on the tote suspension rails 219A of the tote transfer zone 219, t <b<r. La zona 219 de transferencia de tote está elevada por encima de una superficie 110 de tránsito de inventario del sistema 100 de almacenamiento y recuperación de productos, de modo que los totes 214 almacenadas allí sean accesibles para el transportador 500.The tote transfer zone 219 can form a lower level of the racking system 200 of the multi-level storage warehouse. In some embodiments, as shown in FIGURE 1H, the racking system 200 of the multi-level storage warehouse comprises a first shelf and a second shelf arranged on opposite sides of a racking system aisle. The first and second shelves define the endpoints of the racking system aisle, and the tote transfer zone 219 extends beyond the endpoints of the racking system aisle. In an alternative embodiment, the tote transfer zone 219 does not extend beyond the endpoints of the racking system aisle and is instead inserted within the shelf of the racking system 200 of the multi-level storage warehouse.When the tote transfer zone 219 is inserted within shelf 210 of the multi-level storage warehouse racking system 200, the tote transfer zone 219 can form a lower level of the multi-level storage warehouse racking system 200. In the embodiments, the conveyor 500 can be structurally configured so that the lifting surface 520 raises the target tote 214 relative to a tote support surface (in some embodiments, this may include the tote suspension rails 219A) from the tote transfer zone 219. The lifting surface 520 of the conveyor 500 can raise the target tote 214 by raising the conveyor's lifting surface 520 from the travel height to a rack height (shown in FIGURE 1E) and then to the transport height (shown in FIGURE 1F).The lifting surface 520 of the conveyor 500 can be structurally configured to lower the target tote 214 onto a tote-supporting surface (such as the tote suspension rails 219A) from the tote transfer zone 219 by lowering the conveyor lifting surface 520 from the transport height (shown in FIGURE 1F) to the rack height (shown in FIGURE 1E), so that the overhanging edges 214A of the target tote 214 rest on the tote suspension rails 219A. The multi-level storage warehouse racking system 200 may comprise a plurality of racking system aisles 220 between the racks 210. Figure 1 illustrates one embodiment of a rack 210 of the multi-level storage warehouse racking system 200 having a plurality of shelves 240 having at least a portion configured to support a rack module 211 configured to store one or more totes 213. In embodiments, the rack module 211 may be similar to or the same as the rack modules described in U.S. Patent Application Publication 2017 / 0334644. The conveyor 500 may further be configured to transport the mobile storage cart 400 between, within, and outside the racking system aisles 220.Furthermore, the mobile storage trolleys 400 can be structurally configured so that a conveyor 500 travels underneath, for example, by ensuring that a lower surface of the lowest storage level of each of the mobile storage trolleys 400 has a height greater than the travel height of the lifting surface of the conveyor 500. As shown in FIGURES 1C and ID, the lifting surface 520 of the conveyor 500 can lift the mobile storage trolley 400 by raising the conveyor's lifting surface 520 from the travel height to a coupling height (shown in FIGURE 1C) and then to the transport height (shown in FIGURE ID).With reference again to FIGURE 1, in the modalities, the travel route 130 under the multi-level storage depot shelving system 200 for the conveyor 500 is a travel route that extends along the inventory transit surface 110, on a storage plane defined by the distributed shelving array 210, which follows the shape of the distributed shelving array 210. With reference now to FIGURES 5, 6, and 12, as previously indicated, the material handling vehicle 300 further includes a picking attachment 320. The picking attachment 320 can be added as an upgrade to the vehicle such that the picking attachment 320 and the material handling vehicle 300 collectively define the dual-axis vertical movement. More specifically, as a non-limiting example, the mast assembly 302 and the mast assembly control unit 374 can be configured to move the fork carrier assembly 310 along a vertical Z-axis, and the picking attachment 320, comprising the X-Y-Z-Ψ positioner 322, can be secured to the fork carrier assembly 310.The vehicle controller(s) of the material handling vehicle 300 execute vehicle functions to use the X-Y-Z-Ψ positioner 322 of the picking attachment 320 to engage and disengage a target tote 214 placed on the racking system 200 of the multi-level carrier depot with the picking attachment 320. The mast assembly 302, the mast assembly control unit 374, and the picking attachment 320 are collectively configured such that the movement of the X-Y-Z-Ψ positioner 322 along the Z-axis 328 by the picking attachment 320 is independent of the movement of the fork carrier assembly 310 along the vertical Z-axis by the mast assembly 302 and the mast assembly control unit 374.It is observed that independent movement means that the XY-ZΨ 322 positioner can perform a vertical displacement without depending on the movement of the fork carrier device assembly 310 along the vertical Z-axis. In modalities, the mast assembly 302, the mast assembly control unit 374 and the pickup attachment 320 are collectively configured such that the movement of the X-Y-Z-Ψ positioner 322 along the Z-axis 328 by the pickup attachment 320 is complemented by the movement of the fork carrier device assembly 310 along the vertical Z-axis by the mast assembly 302 and the mast assembly control unit 374. The supplementary movement contemplates that, since the collection attachment 320 is secured to the fork carrier assembly 310, the movement of the X-Y-Z-Ψ positioner 322 along the Z-axis 328 by the collection attachment 320 can also result from the movement of the fork carrier assembly 310 (for example, with respect to the mast assembly 302) along the vertical Z-axis. Referring to FIGURES 6 to 9, the positioner Χ-Υ-Ζ-Ψ 322 may comprise a sliding guide 334 that is configured to extend and retract to engage the target tote 214. The sliding guide 334, which may be a telescopic assembly, is provided with hardware that selectively engages the target tote 214 to push and pull the target tote 214 into and out of a storage bin shelf 240 (shown in FIGURE 1), a container bay 430 of the mobile storage trolley 400 (shown in FIGURE zQcrnn / cznz / q / υιλι), or the conveyor lifting surface 520 (shown in FIGURE 1E), in a sliding motion. The sliding guide 334 can be configured to slide within the slots 336 defined in a pair of internal side walls 338 of the collection accessory 320.In some versions, the slide guide 334 may include sliding rails, ball-bearing extension slides, or both. In some versions, and not as a limitation, the hardware that selectively engages with the target tote 214 may be pivoting engagement fingers that pivot in and out of a sliding path of a target tote 214 for tote engagement. In some versions, and not as a limitation, the hardware that selectively engages with the target tote 214 may be a mechanism configured to grip the target tote 214, such as, for example, at least one of a claw, a gripper, one or more suction cups, electromagnetic coils, an articulated arm, and the like. With reference to FIGURE 5, as previously stated, the material handling vehicle 300 includes vehicle-based trolley docking hardware 316. The vehicle-based trolley docking hardware 316 may comprise a mobile storage trolley support platform 312 defined by one or more vertically oriented trolley lift forks 314, wherein the main faces of the respective trolley lift forks 314 lie in a vertical plane. The mobile storage trolley 400 may include slots 450 for vertically oriented forks that are structurally configured to receive the vertically oriented trolley lift forks 314. Furthermore, with reference to FIGURES 2-5 and 10, the vehicle-based cart docking hardware 316 may comprise anti-sway cart docking hardware 340 configured to engage with an upper end 401 of the mobile storage cart 400. The vehicle controller(s) may be in communication with the vehicle-based cart docking hardware 316 and may execute vehicle functions to use the vehicle-based cart docking hardware 316 to dock a mobile storage cart 400 with one or more cart lifting forks 314 and the anti-sway cart docking hardware 340 of the fork carrier assembly 310. The anti-oscillation carriage coupling hardware 340 may comprise a pair of support arms 342 configured to couple to an upper end 401 of the mobile storage carriage 400. The anti-oscillation carriage coupling hardware 340 may comprise lateral anti-oscillation hardware wherein each support arm 342 comprises an extension 348 subtending the hook, and the mobile storage carriage 400 comprises a pair of extension passages 408 structurally configured to allow the extensions 348 subtending the hook to pass at least partially through the pair of extension passages 408.The anti-oscillation trolley coupling hardware 340 may comprise front-to-rear anti-oscillation hardware where each support arm 342 comprises an anti-oscillation hook 344 defining a notch 345, the anti-oscillation hook 344 extending downward into a distal portion 346 of the support arm 342 to define an engagement space between the extension 348 subtending the hook and a terminal portion of the anti-oscillation hook 344. The mobile storage trolley 400 may comprise hook coupling features structurally configured to engage the anti-oscillation hooks 344 of the pair of support arms 342.The pair of extension passages 408 are structurally configured to allow the subtended hook extensions 348 to pass at least partially through the pair of extension passages 408 to enable the anti-swing hooks 344 of the pair of support arms 342 to engage the hook coupling features of the mobile storage trolley 400 while the pair of support arms 342 engages an upper end 401 of the mobile storage trolley 400. The spacing of the extension passage 408 is approximately equal to the spacing of the pair of support arms 342, and the extension passages 408 are large enough to allow the support arms 342 to pass through them. Each support arm 342 may include an anti-oscillation hook 344 that defines a notch 345 and a subtending hook extension 348. The anti-oscillation hook 344 may extend downward into a distal portion 346 of the support arm 342 to define a mating space between the subtending hook extension 348 and a terminal portion of the anti-oscillation hook 344. The hook engagement features may be structurally configured to engage the anti-oscillation hooks 344 of the pair of support arms 342. In addition, the mobile storage trolley 400 may comprise a pair of extension passages 408 structurally configured to allow the subtending hook extensions 348 to pass at least partially through the pair of extension passages 408 to allow the anti-oscillation hooks 344 of the pair of support arms 342 to engage with the hook engagement features of the mobile storage trolley 400.In some models, hook coupling features may include vertical 406 contact terminals. With reference still to FIGURES 2-5 and 10, the anti-swing trolley coupling hardware 340 may comprise a pair of support arm engagement features 402 arranged and extending from an upper end 401 of a mobile storage trolley 400 that is supported by the trolley's lifting forks 314. Each support arm engagement feature 402 may include a horizontal lip 404 and a vertical contact terminal 406. The horizontal lip 404 is configured to rest on the extension 348 that subtends the hook of the support arm 342, and the vertical contact terminal 406 is configured to be received and supported by the notch 345 in the anti-swing hook 344. In the modes, the anti-oscillation carriage docking hardware 340 is configured to dock the mobile storage carriage 400.In another configuration, the anti-sway trolley coupling hardware 340 is configured to couple the mobile storage trolley 400 supported by the trolley lifting forks 314. By way of example, and not as a limitation, the anti-sway trolley coupling hardware 340 is configured to engage the mobile storage trolley 400 supported by the trolley lifting forks 314 at a contact point on the trolley that is vertically offset from the mobile storage trolley support platform 312 by a distance that approximates the height of the mobile storage trolley 400.In another embodiment, the mobile storage cart docking hardware 340 can be configured to engage the mobile storage cart 400 supported by the cart lifting forks 314 at a pair of cart contact points that are offset vertically from the mobile storage cart support platform 312 by a distance that approximates the height of the mobile storage cart 400. It should be understood that different variations of these mobile storage carts suitable for coupling with the 314 trolley lift forks are within the scope of this description. For example, the 400 mobile storage cart may also include a wire mesh, plexiglass, or mesh insert along the sides of the shelving of the 400 mobile storage cart that is not configured to face the 300 material handling vehicle when coupled. With reference to FIGURES 1, 5, 5A, 5B, 6, and 12, as previously stated, the material handling vehicle 300 includes a trolley coupling subsystem 350 (shown in FIGURE 12). The trolley coupling subsystem 350 is characterized by a storage trolley coupling field of view 352 (shown in FIGURES 5A and 5B). The storage trolley coupling field of view 352 may be defined by a vision system 354 (shown in FIGURE 6) within the trolley coupling subsystem 350. With reference to the zQcenn / eznz / q / uli FIGURES 1, 5, 5A and 12, the vehicle controllers of the material handling vehicle 300 execute vehicle functions to: (i) use the navigation subsystem 360 to navigate the material handling vehicle 300 along the inventory transit surface 110 to a localized docking position where an initial cart position 410 (as shown in FIGURE 1) is within the docking field of view 352 of the storage cart (as shown in FIGURE 5A), and (ii) use the cart docking subsystem 350 to engage the mobile storage cart 400 at the initial cart position 410 with the fork carrier assembly 310. With reference to FIGURES 1, 5, 5A, 5B, 6, and 12, the carriage coupling subsystem 350 can be operatively coupled to at least one of the following components: traction control unit 372, braking system 371, steering mechanism assembly 373, mast assembly control unit 374, carrier device control unit 375, carriage coupling sensors 355, and collection attachment 320 to facilitate carriage coupling. The carriage coupling subsystem 350 can be coupled to these components directly or indirectly, via vehicle controllers. The carriage coupling subsystem 350 can be further characterized by a close approach field of view 358 (shown in FIGURES 5A and 5B) zQcenn / eznz / q / υιλι which is more restricted than the carriage coupling field of view 352 (also shown in FIGURES 5A and 5B).The carriage coupling subsystem 350 can switch from a close approach mode in the carriage coupling field of view 352 to a close approach mode in the close approach field of view 358 as the initial carriage position 410 moves into the close approach field of view 358 (shown in FIGURE 5A). For example, the material handling vehicle 300 navigates to the location of the mobile storage cart 400 using the navigation subsystem 360 and places the material handling vehicle 300 in the localized docking position. From there, the cart docking subsystem 350 uses the cart docking sensors 355 (shown in FIGURE 5B) to identify the mobile storage cart 400 in initial approach mode. The cart docking sensors 355 can be placed within a hollow body portion of a single-fork carrier assembly of a material handling vehicle 900 (as described later), as shown in FIGURES 5A and 5B. In alternative modes, the cart docking sensors 355 can be placed on the side 303 of the fork of the material handling vehicle 300 (as shown in FIGURE 5C).The cart docking sensors 355 may include lasers, proximity sensors, cameras, or combinations thereof. The cart docking sensors 355 may be capable of detecting the presence of a mobile storage cart 400 without any physical contact. In some modalities, the cart docking sensors 355 may detect the mobile storage cart 400 by emitting an electromagnetic field and detecting changes in the electromagnetic field. Similarly, the cart docking sensors 355 may detect the mobile storage cart 400 by emitting a beam of electromagnetic radiation (such as an infrared laser beam) and detecting changes in the returning beam. Similar cameras and imaging equipment are described in U.S. Patent Nos. 9,990,535 B2 and 9,087,384 B2. The cart coupling subsystem 350 uses the cart coupling sensors 355 to make course adjustments to align the cart's lift forks 314 with the vertically oriented fork slots 450 of the mobile storage cart 400 in initial approach mode. Once the cart coupling field of view 352 no longer detects the mobile storage cart 400, the cart coupling subsystem 350 switches from initial approach mode to close approach mode and makes fine adjustments to the alignment of the cart's lift forks 314 and the vertically oriented fork slots 450. The cart coupling subsystem 350 remains in close approach mode until the cart coupling sensors 355 indicate that the mobile storage cart 400 is coupled to the material handling vehicle 300. When the material handling vehicle 300 places a mobile storage cart 400, the cart coupling subsystem 350 begins in a reverse equivalent of close approach mode and makes fine adjustments to maintain alignment of the cart's lifting forks 314 and the vertically oriented fork slots 450 of the mobile storage cart 400 as the material handling vehicle 300 moves away from the mobile storage cart 400. The cart coupling subsystem 350 then switches to a reverse equivalent of the initial approach mode, and the mobile storage cart 400 moves out of the close approach field of view 358.This mode can be maintained until the mobile storage cart 400 moves out of the docking field of view 352 (or out of some other predetermined distance, for example, from 1 meter to 3 meters), at which point the cart's docking subsystem 350 can stop and allow the navigation subsystem 360 to control navigation. It is intended that this localized docking position will be recorded for future docking of the cart by the material handling vehicle 300. With reference to Figures 1 and 12, the navigation subsystem 360 may comprise one or more environmental sensors and an environmental database. In the configurations, the environmental sensors are configured to capture data indicative of the position of the material handling vehicle 300 relative to the multi-level storage warehouse racking system 200, the inventory transit surface 110, or both. Additionally, the environmental database may comprise stored data indicative of the multi-level storage warehouse racking system 200, the inventory transit surface 110, or both. The navigation subsystem 360 may be configured to allow at least partially automated navigation of the material handling vehicle 300 along the inventory transit surface 110 using the captured and stored data.For example, and without limitation, the 360 ​​navigation subsystem may utilize a stored storage map and captured images of roof lights or skylights to enable navigation, as described in U.S. Patent No. 9,174,830 issued November 3, 2015 (CRNZ 0053 PA), U.S. Patent No. 9,340,399 issued May 17, 2016 (file number CRNZ 0053 NA), and other similar patents and patent publications. Additional suitable environmental sensors include, but are not limited to, inertial sensors, lasers, antennas for reading RFID tags, buried cables, Wi-Fi or radio signals, Global Positioning System (GPS) sensors, Global Navigation Satellite System (GNSS) sensors, or combinations thereof. In these modes, a map of the storage facility is stored in a memory that communicates with the vehicle controller(s). The vehicle controllers of the 300 material handling vehicle can execute vehicle functions to use the 360 ​​navigation subsystem to determine the vehicle's position relative to the inventory transit area of ​​a storage facility, based on the vehicle's position within the facility compared to the storage facility map.The vehicle controllers of the 300 material handling vehicle can further execute vehicle functions to use the 360 ​​navigation subsystem to track the navigation of the 300 material handling vehicle along the 110 inventory transit surface based on the located position, navigate the 300 material handling vehicle along the 110 inventory transit surface in at least a partially automated manner, or both. zQcenn / eznz / q / uιλι The 360 ​​navigation subsystem can be operationally coupled to at least one of the following: traction control unit 372, braking system 371, steering mechanism assembly 373, mast assembly control unit 374, carrier device control unit 375, and pickup attachment 320 to facilitate carriage coupling. Furthermore, the 360 ​​navigation subsystem can be coupled to these components directly or indirectly via the vehicle controller(s). As previously stated, the material handling vehicle comprises a picking attachment. With further reference to FIGURE 5, the picking attachment 320 may comprise a X-Y-Z-Ψ positioner 322, and the vehicle controller(s) of the material handling vehicle 300 may execute vehicle functions to use the X-Y-Z-Ψ positioner 322 of the picking attachment 320 to engage and disengage a target tote 214 placed on the racking system 200 of the multi-level storage depot with the picking attachment 320. As illustrated in FIGURE 6, the X-Y-Z-Ψ positioner 322 may comprise an X-positioner 323 configured to move the picking fixture 320 in a first degree of freedom along a first lateral axis 324 in a lateral plane, a Y-positioner 325 configured to move the picking fixture 320 in a second degree of freedom along a second lateral axis 326 perpendicular to the first lateral axis 324 in the lateral plane, a Z-positioner 327 configured to move the picking fixture 320 in a third degree of freedom along a Z-axis 328 perpendicular to the first lateral axis 324 and the second lateral axis 326, and a rotary Ψ-positioner 329 configured to rotate the picking fixture 320 in a fourth degree of freedom about the Z-axis 328. The X-positioner 323 may comprise rails 330 configured to allow movement of the pickup attachment 320 along the first lateral axis 324.The Y-positioner 325 may comprise rails 331 configured to permit movement of the picking attachment 320 along the second lateral axis 326. The Z-positioner 327 may comprise a vertical displacement mechanism configured to slide-engage with a post 332 of the fork carrier assembly 310 for vertical displacement with respect to the fork carrier assembly 310. The rotary Ψ-positioner 329 may comprise a shaft 333 configured to permit rotation of the picking attachment 320 about the Z-axis 328. Such rails may include mechanical coupling components, such as one or more rails fixed to a vertical support, each of which includes a coupling mechanism configured to engage with a corresponding coupling mechanism of a respective positioner for a sliding coupling.For example, a rail coupling mechanism might be a notch or protrusion configured to slide into the notch, and the corresponding coupling mechanism might be the other notch or protrusion. As a non-limiting example, the rails might be bars made of metal such as stainless steel or a suitable material understood to be within the scope of this description. The material handling vehicle 300 may further comprise a picking attachment subsystem 321, schematically illustrated in FIGURE 12, communicating with the vehicle controllers of the material handling vehicle 300. As illustrated in FIGURE 6, the attachment subsystem 321 comprises the picking attachment 320 (including the X-Y-Z-Ψ positioner 322) and a time-of-flight (TOF) system 356. The picking attachment subsystem 321 is configured to use the TOF system 356 to generate a target TOF depth map of a target tote 214 (shown in FIGURE 6). In the available configurations, the target tote 214 can be placed in a rack unit 217 of a shelf bay 218 of the shelf module 211 (as shown in FIGURE 7). Additionally or alternatively, the target tote 214 can be placed in the tote transfer zone 219 (as shown in FIGURES 1, 1G and 1H).In the zQcenn / eznz / q / uli modes, the target tote 214 can be placed on the conveyor (not shown). Referring to FIGURES 6-8, the vehicle controller(s) of the material handling vehicle 300 can execute vehicle functions to use the X-Y-Z-Ψ positioner 322 of the picking attachment subsystem 321 to engage the target tote 214 with the picking attachment 320 based on the target TOF depth map. For example, the picking attachment 320 engages with the target tote 214 or a target pallet using a TOF depth map, which is particularly useful for rotational (Ψ) positioning about the Z-axis. Rotation adjustments can compensate for the rotation of the target tote 214 or rotational error in the material handling vehicle 300.The 360 ​​navigation subsystem can be configured to position the material handling vehicle 300 so that the target tote 214 is within a field of view 351 of the TOF system docking 356 tote. With reference to FIGURES 1, 6-8, and 12, the vision system 354 can also be part of the navigation subsystem 360, and the multi-level storage depot racking system can comprise a target fiducial 216 associated with the target tote 214. The navigation subsystem 360 can be configured to position the material handling vehicle 300 so that the target fiducial 216 is within the field of view of the vision system 354 to visualize the target fiducial 216 for identification purposes. The navigation subsystem 360 can further be configured to use the target fiducial 216 to position the material handling vehicle 300 so that the target tote 214 is within the docking field of view 351 of the TOF system 356.In certain configurations, the vision system 354 can be set up to read the target fiducial 216 to identify the target tote 214 and verify that the correct target tote 214 is within the vision system 354's field of view. For example, suitable target fiducials 216 could include markings or labels on the racking system 200 of the multi-level storage facility, or distinctive features of the racking system 200 of the multi-level storage facility itself. The target fiducial 216 could be a barcode or any other machine-readable visual two-dimensional data representation. Figure 7 shows an example with respect to a target fiducial 216 arranged on a shelf module 211, such as a shelf unit 217.The shelf modules within the scope of this description may have different numbers of slots for placing items, such as totes, inside, and a fiducial, such as target fiducial 216, attached to each shelf module 211, may be configured to identify the number of slots per respective module. Once a position of target fiducial 216 is recorded as an XYZ position on the storage depot map, the position of the totes (including, for example, target tote 214) within shelf unit 217 will also be known. A complete shelf module, whether containing or empty of one or more containers, may be picked up as described here from a storage location such as shelf unit 217, or a target tote 214 may be picked up individually as described herein.A target tote 214 to be collected may not include a target fiducial 216, but may be stored in a storage location, such as a rack unit 217, which includes the target fiducial 216 to guide the material handling vehicle 300 to the rack unit 217's localized position for engaging the target tote 214 as described herein. Alternatively, both the rack module 211, the rack unit 217, and the target tote 214 may include target fiducials 216 to guide the engagement of the target tote 214 with the collection attachment 320 as described herein. With reference to FIGURES 7, 8, 9, and 12, a collection scheme as described herein may include traveling to a location 215 of a target tote 214 within a rack module 211 to engage the target tote 214. In other embodiments, the target tote 214 may be placed in the tote transfer zone or placed on the conveyor as described above. Another collection scheme may include traveling to a rack module 211 within a rack bay 218 of the racking system 200 of the multi-level storage depot and viewing a target fiducial 216 of the rack module 211 to collect, based, for example, on known coordinates of the target fiducial 216, the entire rack module 211 or a target tote 214 from within the rack module 211.Furthermore, a picking scheme may include a dual-target fiducial display and involve traveling to a rack module 211 within a rack bay 218 of the multi-level storage depot racking system 200, viewing a target fiducial 216 of the rack module 211, moving to a target tote 214 location within the viewed rack module 211 based on information received from the display of that rack module 211, viewing the target tote 214 within the rack module 211, and docking the target tote 214 by the picking fixture 320 as described herein. Therefore, the navigation subsystem 360 may be configured to position the material handling vehicle 300 such that the target fiducial 216 of a rack unit 217 of the rack module 211 is within the field of view of the vision system 354.The 360 ​​navigation subsystem can also be configured to use the target fiducial 216 to position the material handling vehicle 300 so that the rack unit 217 is within the field of view of the TOF system rack module 356. The 360 ​​navigation subsystem can also be configured to use a target fiducial 216 of the target tote 214 within the field of view of the rack module 211 to position the material handling vehicle 300 so that the target tote 214 is within the field of view of the TOF system docking tote 356. As illustrated in FIGURES 7 and 8, the target tote 214 can be stored within a shelf module 211, such as in a shelf unit 217 of the multi-level storage depot racking system 200. In FIGURE 7, the picking attachment 320 of the material handling vehicle 300 in FIGURE 5 is in a position where a sliding guide 334 of the picking attachment 320 is extended to retrieve the target tote 214 or to store the target tote 214 in shelf unit 217. In FIGURE 8, the material handling vehicle 300 of FIGURE 5 is in a position where the sliding guide 334 has placed the target tote 214 in the picking attachment 320 in a secure position.In FIGURE 9, the material handling vehicle 300 of FIGURE 5 is in a position in which the picking attachment 320 is in rotational alignment, through a zQcenn / eznz / q / uli rotation as described in more detail below, with a mobile storage trolley shelf 400 attached, and the slide guide 334 is in an extended position to retrieve the target tote 214 or store the target tote 214 in the attached mobile storage trolley shelf 400. With reference to FIGURE 1, the collection scheme as described in reference to a target tote 214 placed within the shelf unit 217 as shown in FIGURES 7, 8, 9 and 12 can be similarly applied to a target tote 214 placed in the tote transfer zone 219 or placed on the conveyor lifting surface 500.In such modes, the picking attachment 320 can (i) transfer the target tote 214 between multiple levels of the multi-level storage depot racking system 200 and conveyor 500, (ii) transfer the target tote 214 between multiple levels of the multi-level storage depot racking system 200 and tote transfer zone 219, (iii) transfer the target tote 214 between tote transfer zone 219 and conveyor 500, and (iv) transfer the target tote 214 between conveyor 500 and mobile storage cart 400 when the mobile storage cart 400 is coupled by material handling vehicle 300. zQcenn / eznz / q / uιλι With reference now to FIGURES 5, 12 and 13, in the embodiments, a manually operated unit 370 is secured to the vehicle body 301 and comprises a user interface 388 and an operating command generator 389 that responds to the user interface 388. In alternative embodiments, the manually operated unit 370 may be located away from and not secured to the vehicle body 301. The operational command generator 389 may comprise any suitable combination of conventional, or yet-to-be-developed, circuitry and software that enables the manually operated unit 370 to send operational commands generated in response to user input on the user interface 388 to the vehicle controller(s) to control the operational functions of the traction control unit 372, the braking system 371, the steering mechanism assembly 373, the mast assembly 302 via the mast assembly control unit 374, the pickup attachment 320, or combinations thereof.The manually operated unit 370 can be secured to the vehicle body 301 so that it is accessible for removal from the vehicle body 301 from the side 304 of the power unit of the vehicle body 301 by an operator who shares (as placed on) the transit surface inventory with the wheels 306 supporting the vehicle body 301. The vehicle body 301 may also comprise a pair of side sides 305 extending between the fork side 303 and the power unit side 304 of the vehicle body 301, with the side sides 305 defining a vehicle width wi. In narrow aisle environments, where the material handling vehicle 300 is positioned in a storage depot aisle characterized by an aisle width W2, where W2 ≤ wi < W inches, and W is in the range of approximately 5.08 centimeters (2 inches) to approximately 10.16 centimeters (4 inches) (and W2 > wi), the manually operated unit 370 is secured to the vehicle body 301 so that the operator can access it for removal and shares the inventory transit surface 110 with the material handling vehicle 300. The above equation is an example equation for a maximum gap value, and the stated values ​​are not intended as a limitation.As a non-limiting example, the manually operated unit 370 can be secured to a surface on side 304 of the vehicle body 301 power unit and can be configured to allow an operator to fully control the material handling vehicle 300 positioned in a first aisle without requiring the operator to travel along an empty contiguous aisle to the side of the first aisle to reach the operator compartment 307 on side 303 of the material handling vehicle 300 fork.In other words, an adapted material handling vehicle 300 may require manual intervention by an operator. If the operator is located in the first aisle on the power unit side 304, opposite the operator compartment 307, and cannot fit between the vehicle body 301 and the first aisle, the manually operated unit 370 provides a way for the operator to intervene manually without needing to access the operator compartment 307. It is envisaged that all the functionality of the manually operated unit 370 described herein is duplicated by the user controls in the operator compartment 307, so that the operator can control the material handling vehicle 300 as if they were inside the operator compartment 307 without actually being inside it. As mentioned above, vehicle controllers may comprise a pickup controller 376, a braking controller 377, a traction controller 378, a steering mechanism controller 379, a mast controller 380, or one or more integrated controllers, for operational control functions of the pickup attachment 320, the braking system 371, the traction control unit 372, the steering mechanism assembly 373, or the mast assembly control unit 374. When the vehicle controller(s) comprise a traction controller 378 configured for the operational control functions of the traction control unit 372, the user interface 388 of the manually operated unit 370 may comprise traction control operators 384.The traction controller 378 can respond to operating commands generated by the traction control operators 384 of the manually operated unit 370. For example, it is envisaged that the traction control operators 384, and other types of control operators described herein, can be implemented in a variety of ways, such as through virtual buttons provided on a touchscreen 390, physical inputs 391 located on the manually operated unit 370 (such as buttons, joysticks, etc.), either of which can be dedicated or customizable. It is envisaged, for example, that the physical inputs 391 can be customized using configurable menu options, scroll interfaces, or other on-screen options provided on the touchscreen 390.It is also envisaged that the body of the manually operated Unit 370 could be used as a control operator if the unit were equipped with one or more motion sensors, such as a gyroscope, accelerometer, etc., to detect the movement and / or rotation of the manually operated Unit 370. Furthermore, gesture tracking, eye tracking, voice control, and other types of indirect control operators can be used in the envisaged modalities. zQcenn / eznz / q / uιλι Vehicle controllers may also include a braking controller 377 configured to control the operating functions of the braking system 371. The user interface 388 of the manually operated unit 370 may include braking control operators 383. The braking controller 377 may respond to operating commands generated by the braking control operators 383 of the manually operated unit 370. Similarly, vehicle controllers may comprise a steering mechanism controller 379 configured to control the operating functions of the steering mechanism assembly 373. In which case, the user interface 388 of the manually driven unit 370 would comprise steering mechanism control operators 385, and the steering mechanism controller 379 would respond to operating commands generated by the steering mechanism control operators 385. Vehicle controllers may also comprise a mast controller 380 configured to control the operational functions of the mast assembly control unit 374, which is configured to control the mast assembly 302. In this case, the user interface 388 of the manually operated unit 370 would comprise mast assembly control operators 386, and the mast controller 380 would respond to the operational commands zQcrnn / cznz / q / uli generated by the mast assembly control operators 386. The vehicle controller(s) may additionally comprise a collection controller 376 configured to control the operating functions of the collection attachment 320. In which case, the user interface 388 of the manually operated unit 370 would comprise collection attachment control operators 382, ​​and the collection controller 376 would respond to operating commands generated by the collection attachment control operators 382. The vehicle controllers may further comprise a carrier device controller 381 configured to control the operating functions of the carrier device control unit 375, which is configured to control the fork carrier device assembly 310. In that case, the user interface 388 of the manually operated unit 370 would comprise carrier device control operators 387, and the carrier device controller 381 would respond to operating commands generated by the carrier device control operators 387. The material handling vehicle 300 may further comprise a camera 308 coupled to the fork carrier assembly 310, with the camera 308 configured to send image data representing objects within its field of view to the hand-operated unit 370. The hand-operated unit 370 may comprise a touchscreen 390 or other type of display for showing image data representing objects within the camera 308's field of view. In this way, a ground operator can use the image data to assist in using the hand-operated unit 370 to control various functions of the material handling vehicle 300. This is particularly advantageous when the camera 308's field of view extends beyond the field of view of an operator who shares an inventory transit area 110 with the material handling vehicle 300.In some configurations, the manually operated unit 370 can be configured to allow an operator to view images of the collection attachment 320 and send operational commands to the collection controller 376 through the collection attachment control operators 382 of the manually operated unit 370 to control the operational functions of the collection attachment 320. It is also envisaged that the manually operated unit 370 can be configured to control the field of view of camera 308. For example, the field of view of camera 308 can be controlled by changing the position or orientation of camera 308, controlling the zoom of the camera lens, controlling a direction of orientation of the camera lens, or combinations thereof. In several configurations, the manually operated unit 370 is configured to control the focusing optics of camera 308. In other configurations, camera 308 can be attached to the fork carrier assembly 310 by means of a camera positioner 309, and the manually operated unit 370 can be configured to control the operating functions of the camera positioner 309. It is also contemplated that camera 308 can be attached to the fork carrier assembly 310 internally or externally. An internally attached camera could reside at least partially within the fork carrier assembly 310, such as a pinhole camera. An externally attached camera can be joined to the fork carrier assembly 310 by any suitable means, such as coupling mechanisms (screws, bolts, etc.), fixing mechanisms (camera base mounts, brackets, etc.), adhesives, or combinations thereof. In many cases, it will be advantageous to ensure that the manually operated unit 370 is secured to a surface of the vehicle body 301 that is not located within the vertical movement path of the fork carrier assembly 310. By ensuring that the manually operated unit 370 is accessible from the side 304 of the power unit, and not from the side 303 of the material handling vehicle 300 fork, the operator will not be required to walk under the fork carrier assembly 310 to access the manually operated unit 370. In some configurations, it may be sufficient simply to ensure that the manually operated unit 370 is secured to a surface of the vehicle body 301 that is not located on the side 303 of the fork of the vehicle body 301.In other embodiments, it may be advantageous to ensure that the manually operated unit 370 is held within a drive unit housing 392, and that the drive unit housing 392 is secured to the vehicle body 301. For example, with reference to FIGURE 5, the material handling vehicle 300 includes the drive unit housing 392 that houses the manually operated unit 370 on the drive unit side 340 of the material handling vehicle 300. It is envisaged that the previously described manually operated unit 370 may be secured to the material handling vehicle 300, or it may be located remotely from the material handling vehicle 300. Furthermore, the functionality of the manually operated unit 370 may be more broadly implemented as a remote controller that communicatively couples to the vehicle. 300 material handling system, for example, via a wireless communication link. The remote controller may or may not be handheld and may or may not be secured to the material handling vehicle 300. The remote controller may include a video link to display image data from camera 308. The remote controllers contemplated may, for example, be a desktop computer, a laptop computer, a smartphone, a tablet, a portable computing device, or some combination thereof. It is also contemplated that the remote controller, whether handheld or not, may be used in a dual-mode operation where user control is facilitated from two separate remote controllers.For example, and not as a limitation, in a dual-mode operation, a user can control vehicle operations via a remote controller at a remote location, such as a laptop computer, while simultaneously allowing the same or another user to log in via a secure web page or software application loaded onto a smartphone or other handheld device to control those vehicle operations. Regardless of the operating mode, it is envisaged that the remote controller can be used by an operator at a remote location of the 300 material handling vehicle, or by an operator who shares the 110 inventory transit area with the 300 material handling vehicle. In FIGURE 1, the product receiving station 610 comprises a product picking terminal 620 equipped for extracting totes from the mobile storage carts 400 or conveyors 500. In an alternative embodiment, the consumer goods storage depot system 600 further comprises an intermediate transfer station 630 positioned along a mobile storage cart travel route extending from the mobile storage cart transfer node 420 to the product receiving station 610. The mobile storage carts 400 can be positioned at the intermediate transfer station 630 and can be transferred from the product receiving station 610 to the product picking terminal 620 via conveyor 500. With reference now to FIGURES 1A and 1B, the product selection terminal comprises an operator platform 622 above an inventory transit surface 110 of the product storage and retrieval system 100. The operator platform 622 comprises a product access portal 624 accessible by an operator 625 from above the operator platform 622 and by conveyor 500 from below the operator platform 622. As shown in FIGURE 1A, conveyor 500 can be configured to raise the conveyor lifting surface to the height of the operator platform 622. In the modes, the operator's platform height 622 can be approximately equal to the conveyor's transport height 500. When the conveyor's lifting surface is raised to the operator's platform height 622, the operator 625 can access the target tote 214.In an alternative embodiment, shown in FIGURE IB, the product selection terminal 620 comprises a conveyor lifting surface 626 that is flush with the inventory transit surface 110, aligned with the product access portal 624, and configured to lift conveyor 500 from the inventory transit surface 110 of the product storage and retrieval system 100 to the operator platform 622. When conveyor 500 is lifted to the operator platform 622, the operator 625 can access the target tote 214. With reference again to FIGURE 1, the warehouse management computer center is in communication with the conveyor 500 and the material handling vehicle 300, and is programmed to instruct the conveyor 500 and the material handling vehicle 300 to coordinate the coupling, transport, and uncoupling of the mobile storage carts 400 and the target tote zQcrnn / cznz / q / uli in the consumer goods warehouse system 600. The warehouse management computer center can be configured to manage locations of multiple mobile storage carts 400, conveyors 500, material handling vehicles 300, mobile storage cart transfer nodes 420, and goods receiving stations 610.More specifically, the aforementioned coordinated movement can be applied to the transfer of mobile storage carts 400 between aisles 220 of the multi-level storage warehouse racking system 200, the material handling vehicle 300, the mobile storage cart transfer node 420, the conveyor 500, the product receiving station 610, or various combinations thereof. Furthermore, it is envisaged that these instructions may be presented in a variety of forms. For example, and without limitation, these instructions may represent detailed step-by-step movements for the conveyor 500 and the material handling vehicle 300 to achieve the aforementioned coordination. Alternatively, the instructions may simply represent a set of position and time coordinates necessary to achieve the aforementioned coordination.In which case, conveyor 500 and material handling vehicle 300 would be responsible for developing their own step-by-step travel routes to achieve the aforementioned coordination. In any case, it is envisaged that those practicing the concepts described herein may draw upon conventional or yet-to-be-developed teachings related to storage depot traffic management and automated vehicle guidance to achieve the aforementioned coordination. With reference to Figure 14, a block diagram illustrates a computer device 700, through which the modalities described herein can be implemented. The computer device 700 described herein is only an example of a suitable computer device and does not imply any limitation on the scope of the presented modalities. For example, in some modalities, the computer device 700 is an example of a remote controller, such as the hand-operated unit described herein and / or other suitable mobile client devices that can communicatively couple to the hand-operated unit. The computer device 700 can communicatively couple to one or more computer devices through a storage depot management system.Nothing illustrated or described with respect to the computer device 700 should be construed as required or as creating any kind of dependency on any element or plurality of elements. In various modalities, a device zQcrnn / cznz / q / uli. A computing device (700) may include, but is not limited to, a desktop computer, a laptop computer, a server, a client, a tablet, a smartphone, or any other type of device capable of compressing data. In one modality, the computing device (700) includes at least a processor (702) and memory (non-volatile memory (708) and / or volatile memory (710). In other modalities, one or more target TOF depth maps (353) and / or one or more storage depot maps (362) described herein may be stored in memory. The computing device (700) may include one or more displays (such as the touchscreen of the hand-operated unit) and / or output devices (704), such as monitors, speakers, headphones, projectors, portable displays, holographic displays, and / or printers, for example.704 output devices can be configured to emit audio, visual and / or tactile signals and can include, for example, audio speakers, energy-emitting devices (radio, microwave, infrared, visible light, ultraviolet, X-rays and gamma rays), electronic output devices (Wi-Fi, radar, laser, etc.), audio (of any frequency), etc. The 700 computing device may further include one or more 706 input devices, which may include, by way of example, any type of mouse, keyboard, disk / media drive, memory card / USB flash drive, memory card, stylus, touch input device, biometric scanner, voice / auditory input device, motion detector, camera, scale, and the like. The 706 input devices may also include sensors, such as biometric (voice, facial recognition, iris or other types of eye recognition, hand geometry, fingerprint, DNA, or any other suitable type of biometric data, etc.), video / still images, motion data (accelerometer, GPS, magnetometer, gyroscope, etc.), and audio (including ultrasonic sound waves).Input devices 706 may also include cameras (with or without audio recording), such as digital and / or analog cameras, still cameras, video cameras, thermal imaging cameras, infrared cameras, cameras with a load-docking screen, night vision cameras, 3D cameras, webcams, audio recorders, and the like. For example, an input device 706 may include the camera 308 described herein. A computer device typically includes non-volatile memory (ROM, flash memory, etc.), volatile memory (RAM, etc.), or a combination thereof. A network interface hardware can facilitate communication over a network via cables, a wide area network, a local area network, a personal area network, a cellular network, a satellite network, and so on. Suitable local area networks may include wired Ethernet and / or wireless technologies such as Wi-Fi. Suitable personal area networks may include wireless technologies such as IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee, and / or other near-field communication protocols. Similarly, suitable personal area networks may include wired computer buses such as USB and FireWire.Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM. Network interface hardware (712) can communicatively couple to any device capable of transmitting and / or receiving data across the network (714). Accordingly, network interface hardware (712) may include a communication transceiver for sending and / or receiving any wired or wireless communication. For example, network interface hardware (712) may include an antenna, a modem, a LAN port, a Wi-Fi card, a WiMAX card, mobile communication hardware, near-field communication hardware, satellite communication hardware, and / or any wired or wireless hardware for communicating with other networks and / or devices. A computer-readable medium (716) may comprise a plurality of computer-readable media, each of which may be a computer-readable storage medium or a computer-readable signal medium. The computer-readable medium (716) may be non-transient in the sense that it excludes any transient propagating signal as a storage medium and may reside, for example, within an input device (706), non-volatile memory (708), volatile memory (710), or any combination thereof. A computer-readable storage medium may include tangible media that can store instructions associated with, or used by, a device or system.A computer-readable storage medium includes, for example: RAM, ROM, cache, optical fiber, EPROM / Flash memory, CD / DVD / BD-ROM, hard disk drives, solid-state storage, optical or magnetic storage devices, floppy disks, electrical connections with a wire, or any combination thereof. A computer-readable storage medium may also include, for example, a system or device that is magnetic, optical, semiconductor, or electronic. Computer-readable storage media and computer-readable signal media are mutually exclusive. A computer-readable signal medium can include any type of computer-readable medium other than a computer-readable storage medium and can include, for example, propagated signals that take any form, such as optical, electromagnetic, or a combination thereof. A computer-readable signal medium can include propagated data signals that contain computer-readable code, for example, within a carrier wave. Computer-readable storage media and computer-readable signal media are mutually exclusive. The computer device 700 may include one or more network interface hardware 712 to facilitate communication with one or more remote devices, which may include, for example, client and / or server devices. A network interface hardware 712 may also be described as a communications module, as these terms can be used interchangeably. For clarity, it is noted that the use of the term "in communication with" herein, with respect to Figure 14, or elsewhere, may refer to either one-way or two-way communication. Figure 15 illustrates a method 800 for operating the product storage and retrieval system 100 according to one embodiment of the present description and can be read in light of the product storage and retrieval system 100 components in Figures 1 and 12. As illustrated in Figure 15, method 800 includes step 802 for initiating cart acquisition followed by step 804 for receiving information about a localized docking position from the cart's initial position 410. Method 800 further includes, in step 806, using the navigation subsystem 360 and the vehicle controller(s), navigating the material handling vehicle 300 along the inventory transit surface 110 to a localized docking position and receiving docking field-of-sight information from the storage cart in step 808.If in step 810 the initial position 410 of the trolley is not within the field of view 352 of the storage trolley coupling, method 800 returns to step 806. Otherwise, if in step 810 the initial position 410 of the trolley is within the field of view 352 of the storage trolley coupling, method 800 continues with step 810 and uses the trolley coupling subsystem 350 to engage the mobile storage trolley 400 by coupling the mobile storage trolley 400 at the initial position 410 of the trolley with the fork carrier assembly 310. In various modalities, a method 820 for operating the product storage and retrieval system 100 may include, as illustrated in FIGURE 16, a step 822 for initiating tote docking followed by a step 824 for receiving information regarding a target tote position from a target tote 214. Method 820 further includes, in step 826, and by using at least one of the navigation subsystems 360, the picking attachment subsystem 321, and the vehicle controller(s), navigating the material handling vehicle 300 to the target tote position and aligning the picking attachment 320 with the target tote 214. In step 828, information is received from the tote docking field of view 351. If in step 830 the target tote position is not within the tote docking field of view 351, method 820 returns to step 826.Otherwise, if in step 830 the target tote position is within the tote coupling field of view 351, method 820 continues where the navigation subsystem 360 positions the material handling vehicle 300 so that the target fiducial 216 is within the field of view of the vision system 354 for visualization of the target fiducial 216 for identification purposes, where the vision system 360 can read the target fiducial 216 to identify the target tote 214 and / or verify that the correct target tote 214 is within the field of view of the vision system 354. Method 820 then continues with step 832 to generate a depth map of the target tote and, in step 834, to use the pickup attachment subsystem 321 to hook up the target tote 214 based on the target tote depth map. Using either method 800 or 820, or a combination thereof, a velocity number can be assigned to a stock keeping unit (SKU) associated with a target tote 214 in the multi-level storage warehouse's racking system 200, based on an ordering velocity indicative of a usage frequency parameter associated with the target tote 214. A relatively high velocity number might be associated with a low storage position on a low shelf in the multi-level storage warehouse's racking system 200, and a relatively low velocity number might be associated with a high storage position on a high shelf in the multi-level storage warehouse's racking system 200. For example, a lower velocity number might be associated with a higher shelf, and a higher velocity number might be associated with a lower shelf.Additionally, the picking attachment 320 and the fork carrier assembly 310 can be used to move the target tote 214 from a portion of the multi-level storage depot racking system 200 associated with a relatively low speed number to a portion of the multi-level storage depot racking system 200 associated with a relatively high speed number based on an increase in order speed with respect to the target tote 214.Additionally, the picking attachment 320 and the fork carrier assembly 310 can be used to move the target tote 214 from a portion of the multi-level storage depot racking system 200 associated with a relatively high speed number to a portion of the multi-level storage depot racking system 200 associated with a relatively low speed number based on a decrease in order speed with respect to the target tote 214. In certain modes, a first target tote can be engaged in a first storage position on a high shelf associated with a relatively low speed number using the picking attachment 320. The first target tote can then be placed, using the picking attachment 320, onto the mobile storage cart 400, which is engaged by the fork carrier assembly 310. Additionally, the material handling vehicle 300 can navigate to a second target tote when the second target tote is assigned a relatively high speed number and is close to the first storage position. The second target tote can then be engaged using the picking attachment 320, which can either lower the second target tote to a low shelf associated with the relatively high speed number or place the second target tote onto the mobile storage cart 400.For example, the 300 material handling vehicle can navigate to a back selection location zQcrnn / cznz / q / uli. 100 when the second target tote is placed on the mobile storage cart 400, and the second target tote can be placed on the low shelf associated with the relatively high speed number while in the rear selection location. In other configurations, a first target tote can be engaged in a first storage position on a low shelf associated with the high-speed number using the picking attachment 320. The picking attachment 320 can then place the first target tote onto the mobile storage cart 400, which is attached by the fork carrier assembly 310. Additionally, the material handling vehicle 300 can navigate to a second target tote when the second target tote is assigned a relatively low speed number and is close to the first position on the low shelf. The second target tote can then be engaged with the picking attachment 320 and lifted to a high shelf associated with the relatively low speed number, or placed onto the mobile storage cart 400.For example, the material handling vehicle 300 can be navigated to a later picking location when the second target tote is placed on the mobile storage cart 400, and the picking attachment 320 places the second target tote on the high shelf associated with the zQcenn / eznz / q / uli. 102 work together with a storage depot management system to control the flow of products and optimize picking and replenishment and to organize products based on an average or known rate based on product demand. With this type of inventory leveling system, a relatively low velocity number associated with a high shelf in the multi-level storage racking system 200 can be assigned to an SKU associated with a first target tote stored on the mobile storage cart 400, and a relatively high velocity number associated with a low shelf in the multi-level storage racking system 200 can be assigned to an SKU associated with a second target tote stored on a high shelf in the multi-level storage racking system 200. Indicative information can be received regarding the second target tote stored on the high shelf.The material handling vehicle 300 can be driven to a location in the multi-level storage depot racking system 200 associated with the high shelf during an off-peak or break time picking schedule, and the mobile storage cart 400 coupled by the fork carrier assembly 310 can be moved to the high shelf. Once in position, the zQcenn / eznz / q / uli attachment 320. Picking 103 can swap the first target tote stored on mobile storage cart 400 with the second target tote stored on the high shelf to store the second target tote on mobile storage cart 400. Such an exchange is to level the inventory and reduce the amount of lifting and lowering of the forklift carrier assembly 310 required to retrieve the target totes 214. This would be particularly significant during, for example, peak periods or high-volume shifts because it would reduce the time required to fulfill an inventory order and the energy consumed by the material handling vehicle 300. In certain configurations, one or more target totes 214 can be placed using the picking attachment 320 on the mobile storage cart 400, which is coupled by the fork carrier assembly 310, so that the mobile storage cart 400 is used as a temporary storage location. The picking and placing operations of the picking attachment 320 can be interleaved by picking and placing multiple target totes 214 during a single trip of the material handling vehicle 300 along an aisle 220 of the multi-level storage depot racking system 200. The first aisle may include a very narrow aisle (VNA). Additionally, the use of the 400 storage cart Mobile storage cart 104, used as a temporary storage location, allows for multiple picking in aisle 220 or while the forklift carrier assembly 310 is being raised to a higher storage location to minimize the energy used to raise and lower the forklift carrier assembly 310. Mobile storage cart 400 can also be used to fulfill multiple inventory orders in a batch and deliver the entire batch to a location or / or transfer node 420 for delivery to another location. A first target tote 213 can be stored on a shelf in a plurality of shelves 240 in the first aisle of the multi-level storage depot racking system 200, and a second target tote 213 can be stored on the mobile storage cart 400. The first target tote 213 on the shelf in a shelf location can be engaged by a picking attachment 320 to retrieve the first target tote 213. The picking attachment 320 can then remove the first target tote 213 from the shelf location and place it in a container bay 430 of the mobile storage cart 400. The picking attachment 320 can also engage the second target tote 213 stored on the mobile storage cart 400, remove the second target tote 213 from the mobile storage cart 400, and place it in a container bay 430 of the mobile storage cart 400. 105 Target on shelf location to place second tote 213 Target. In another configuration, it is envisaged that the material handling vehicle 300 can transfer mobile storage carts 400 to the conveyor 500. In this configuration, the location of the storage cart transfer node 420 would correspond to the location of the conveyor 500. A 500 conveyor can travel outside of an aisle 220, such as along the floor under a row of 400 mobile storage carts, which can help keep aisle 220 clear and reduce travel time for the 500 conveyor and / or 300 material handling vehicle. Material handling vehicle 300 lowers mobile storage cart 400 to mobile storage cart transfer node 420. Conveyor 500 approaches material handling vehicle 300 and turns toward mobile storage cart transfer node 420. The conveyor 500 reaches the mobile storage cart transfer node 420 beneath the mobile storage cart 400 and carries the mobile storage cart 400 in a suitable direction. Examples of conveyors 500 are shown and described in more detail, for example, in U.S. Patent Application Publication 2008 / 0166217 A1. zQcrnn / cznz / q / uιλι 106 A storage depot management computer center and material handling vehicle 300 can be collectively configured to execute a site operation comprising selecting a mobile storage cart transfer node 420 that can be accessed by a conveyor 500 and material handling vehicle 300, and retrieving a target mobile storage cart 400 from the mobile storage cart transfer node 420 by coupling the target mobile storage cart 400 with a lifting mechanism of the material handling vehicle 300. A material handling vehicle 300 arrives at a mobile storage cart transfer node 420. Multiple conveyors 500, each with a mobile storage cart 400, approach the material handling vehicle 300, with the first conveyor 500 assigned to the mobile storage cart transfer node 420. The first conveyor 500 carries the mobile storage cart 400 to the assigned mobile storage cart transfer node 420 in front of the material handling vehicle 300. Material handling vehicle 300 moves along aisle 220 away from mobile storage cart transfer node 420. The first conveyor 500 travels below the first level of the lower level of bays 218. 107 of the shelf system 200 of the multi-level storage depot racking in a suitable directional position. Further conveyors 500, each carrying a mobile storage cart 400, move in aisle 220 in a suitable direction. In some embodiments, the conveyors 500 follow the material handling vehicle 300 like a train moving along aisle 220. With reference again to FIGURE 1, this application further includes methods for operating a product storage and retrieval system 100. The method includes providing the product storage and retrieval system 100 and navigating the material handling vehicle 300 along the inventory transit surface 110 to the target tote by using the navigation subsystem 360 and one or more vehicle controllers independent of the conveyor movement 500 within the product storage and retrieval system 100.The method includes hooking or unhooking the target tote with the picking attachment secured to the fork carrier device assembly 310 by using the X-Y-Z-Ψ positioner in the tote transfer zone 219 and on multiple levels of the multi-level storage depot shelving system 200, independently of the movement of the conveyor 500 within the product storage and retrieval system 100. zQcenn / eznz / q / uιλι 108 With reference to FIGURES 1, 1E, and 1F, the method further includes placing the target tote, using the picking attachment, in the tote transfer zone 219 or on a level of the multi-level storage depot racking system 200 and engaging the target tote 214 with the conveyor 500 by using the conveyor-based coupling hardware 540 comprising a conveyor lifting surface 520. The coupling of the target tote 214 with the conveyor 500 may further include lifting the target tote 214 relative to a tote support surface 219A of the tote transfer zone 219 with the conveyor lifting surface 520. With reference again to FIGURE 1, in some embodiments, the method also includes transmitting instructions, via the storage facility's computer management center, to the material handling vehicle 300 and the conveyor 500. The method may further comprise transporting the target tote with the conveyor 500 to a product receiving station 610 comprising a product picking terminal 620 and removing the target tote from the conveyor's lifting surface. Removing the target tote may include raising a lifting surface of the conveyor from an access height flush with the inventory traffic surface to a height zQcenn / eznz / q / uli 109 selection. The method may further include providing a mobile storage cart 400 and coupling the mobile storage cart 400 to the fork carrier assembly 310 using a material handling vehicle cart coupling subsystem 300. The method then includes placing the target tote, using the picking attachment, onto the mobile storage cart 400 coupled by the fork carrier assembly 310. In some embodiments, the method further includes decoupling the mobile storage cart 400 from the fork carrier assembly 310 using a material handling vehicle cart coupling system 300 and coupling the mobile storage cart 400 to the conveyor lifting surface.The method then includes transporting the mobile storage cart 400 with the conveyor 500 to a product receiving station 610 comprising a product selection terminal 620 and removing the target tote from the mobile storage cart 400. With reference to FIGURES 11-12, this application further relates to a material handling vehicle 900 comprising a vehicle body 301, a plurality of wheels 306 supporting the vehicle body 301 and defining a direction of travel 902 for the zQcrnn / cznz / q / υιλι 110 vehicle body 301, a braking system 371, a traction control unit 372 and a steering mechanism assembly 373, each operatively coupled to one or more of the plurality of wheels 306, a mast assembly 302, a single-fork carrier device assembly 910 coupled to the mast assembly 302 for movement along a lifting dimension of the mast assembly 302, and a transport, coupling or uncoupling accessory configured to facilitate the transport, coupling or uncoupling of materials by the material handling vehicle 900.The transport, coupling, or uncoupling accessories may be any of the accessories described above, such as, but not limited to, a collection accessory 320, a collection accessory subsystem 321, a cart coupling subsystem 350, a navigation subsystem 360, a scanning laser, a vision system, a 3D time-of-flight (TOF) system, an obstacle detection sensor, or other automated retrieval and storage system hardware. Finally, the single-fork carrier assembly comprises a hollow body portion 912 that houses at least one portion of the transport, coupling, or uncoupling accessory. In some embodiments, the hollow body portion 912 may include the cart coupling sensors 355, as shown in Figure 5B. zQcrnn / cznz / q / uιλι 111 The single-fork carrier assembly 910 defines an operator compartment width 914 that is oriented across the vehicle body's travel direction 902, and the operator compartment width 914 can be between approximately 100 cm and approximately 125 cm. A single-fork carrier assembly 910 can be distinguished from conventional material handling vehicle lifting forks because the single-fork carrier assembly 910 comprises a unitary material handling platform 916 that is oriented across the vehicle body's travel direction 902 and defines a platform width 917 parallel to the operator compartment width 914. The platform width 917 can be at least approximately 75 cm and is less than the operator compartment width 914.The unitary material handling platform 916 may comprise a front face 918 that is oriented across the travel direction 902 of the vehicle body 301. The front face 918 of the platform 916 forms a projecting arc that extends across the width of the platform 917 and projects along the travel direction 902 of the vehicle body 301. In addition, the unitary material handling platform 916 may comprise at least two opposing pairs of vertically oriented trolley stabilizers 919. The two opposing pairs zQcenn / eznz / q / uili. The 112 trolley stabilizers 919 are located on opposite sides of the unit material handling platform 916 along the direction of travel 902 of the vehicle body 301, and each trolley stabilizer 919 comprises an inclined contact edge facing an opposite inclined contact edge of a trolley stabilizer 919 on an opposite side of the unit material handling platform 916. In this manner, the aforementioned trolley stabilizers 919 will operate to automatically align a mobile storage trolley or similar object that is slightly crooked with respect to the material handling platform 916, as the material handling platform 916 and the contact edges of the trolley stabilizers 919 are raised into contact with the mobile storage trolley. The 910 assembly of the single-fork carrier can be removably attached to the 302 mast assembly. Furthermore, the 916 unit material handling platform can be engaged with the mobile storage cart using mechanical fasteners, such as, but not limited to, pins and corresponding holes. Specifically, the 916 unit material handling platform may include pins that deviate from the plane parallel to and flush with the 916 unit material handling platform, and the mobile storage cart may include holes corresponding to the placement of zQcenn / eznz / q / uli 113 pins on the unit material handling platform 916. These corresponding holes in the mobile storage cart are configured to receive the pins on the unit material handling platform 916, thereby securing the mobile storage cart in place on the unit material handling platform 916. For the purposes of describing and defining the present invention, it is noted that the term "around" is used herein to represent the inherent degree of uncertainty that can be attributed to any quantitative comparison, value, measurement, or other representation. The term "around" is also used herein to represent the degree to which a quantitative representation may vary from an established reference without resulting in a change in the basic function of the subject matter in question. Having described the subject matter of this document in detail and with reference to specific modalities thereof, it is noted that the various details described herein should not be interpreted as implying that these details relate to elements that are essential components of the various modalities described herein, even in cases where a particular element is illustrated in each of the drawings accompanying this document. Furthermore, it will be evident that modifications and variations are possible without departing from the 114 The scope of this description includes, but is not limited to, the embodiments defined in the appended claims. More specifically, although some aspects of this description are identified herein as preferred or particularly advantageous, it is contemplated that this description is not necessarily limited to these aspects. It should be noted that one or more of the following claims use the term "where" as a transitional phrase. For the purpose of defining the present invention, it is noted that this term is introduced in the claims as an open transitional phrase used to introduce an enumeration of a series of features of the structure and should be interpreted in the same way as the most commonly used open preamble term comprising

Claims

1. A product storage and retrieval system, comprising a multi-level storage depot racking system, a material handling vehicle comprising vehicle-based cart coupling hardware, a mast assembly and picking attachment, a mobile storage cart, and a conveyor comprising the conveyor-based coupling hardware, characterized in that: the conveyor-based coupling hardware enables the conveyor to engage, transport, and unengage the mobile storage cart at a variety of locations along an inventory transit surface of the product storage and retrieval system independently of the movement of the material handling vehicle within the product storage and retrieval system;The vehicle-based cart docking hardware is coupled to the mast assembly to move along a lift dimension of the mast assembly for: (i) coupling and uncoupling the mobile storage cart at a variety of locations along the inventory transit surface, independent of the conveyor movement within the product storage and retrieval system; and (ii) transporting the mobile storage cart to multiple levels of the multi-level warehouse racking system independently of the conveyor movement within the product storage and retrieval system; the mast assembly and picking attachment are configured to access multiple levels of the multi-level storage depot racking system;and the material handling vehicle's picking attachment is configured to transfer totes between the multi-level racking system and the multi-level mobile storage cart of the multi-level racking system when the material handling vehicle hooks up to the mobile storage cart.

2. The product storage and retrieval system according to claim 1, characterized in that the vehicle-based cart coupling hardware comprises a mobile storage cart support platform defined by one or more vertically oriented cart lifting forks.

3. The product retrieval and storage system according to claim 1, characterized in that the cart coupling hardware based on the zQcenn / eznz / q / uili 117 vehicle comprises an anti-oscillation cart coupling hardware configured to engage an upper end of the mobile storage cart.

4. The product retrieval and storage system according to claim 3, characterized in that the anti-oscillation cart coupling hardware comprises a pair of support arms configured to engage with the upper end of the mobile storage cart.

5. The product storage and retrieval system according to claim 4, characterized in that the anti-oscillation cart coupling hardware comprises lateral anti-oscillation hardware in which each support arm comprises an extension subtending a hook, and the mobile storage cart comprises a pair of extension passages structurally configured to allow the extensions subtending the hooks to pass at least partially through the pair of extension passages.

6. The product storage and retrieval system according to claim 4, characterized in that the anti-sway cart coupling hardware comprises front-to-rear anti-sway hardware in which each support arm comprises an anti-sway hook defining a notch, the anti-sway hook extending downwards in a distal portion of the support arm to define an engagement space between an extension subtending the hook and a terminal portion of the anti-sway hook, and the mobile storage cart comprises hook coupling features structurally configured to engage the anti-sway hooks of the pair of support arms.

7. The product storage and retrieval system according to claim 4, characterized in that: each support arm comprises an anti-oscillation hook defining a notch and an extension subtending the hook; and the anti-oscillation hook extends downwards in a distal portion of the support arm to define a coupling space between the extension subtending the hook and a terminal portion of the anti-oscillation hook.

8. The product storage and retrieval system according to claim 7, characterized in that the mobile storage cart comprises: hook coupling features structurally configured to couple the anti-oscillation hooks of the pair of support arms; and a pair of extension passages structurally configured to allow extensions subtending the hooks to pass at least partially through the pair of extension passages to allow the anti-oscillation hooks of the pair of support arms to couple to the hook coupling features of the mobile storage cart while a pair of support arms engage an upper end of the mobile storage cart.

9. The product storage and retrieval system according to claim 1, characterized in that the mobile storage cart comprises a conveyor access opening that is sized and configured to allow the conveyor to enter and exit through the conveyor access opening along the inventory transit surface.

10. The product storage and retrieval system according to claim 1, characterized in that: the mobile storage cart comprises at least two vertically oriented fork slots; the vehicle-based cart docking hardware comprises a mobile storage cart support platform defined by one or more vertically oriented cart lifting forks; and the vertically oriented lifting slots are structurally configured to receive the vertically oriented cart lifting forks. zQcenn / eznz / q / uili 120 11. The product storage and retrieval system according to claim 1, characterized in that: the conveyor comprises a lifting surface and is structurally configured to lift the mobile storage cart off the inventory transit surface on which the multi-level storage depot racking system rests by raising the conveyor's lifting surface from a travel height to a transport height; and the mobile storage cart is structurally configured to allow the conveyor to enter and exit a lifting zone beneath the mobile storage cart in at least two orthogonal directions, with the conveyor's lifting surface at the travel height.

12. The product storage and retrieval system according to claim 1, characterized in that: the material handling vehicle further comprises a vehicle body, a plurality of wheels supporting the vehicle body, a traction control unit, a braking system, and a steering mechanism assembly, each operatively coupled to one or more of the vehicle wheels, a movable fork carrier assembly coupled to the mast assembly, a mast assembly control unit, a carrier control unit, the picking attachment secured to the fork carrier assembly, a trolley coupling subsystem, a navigation subsystem, and one or more vehicle controllers communicating with the traction control unit, the braking system, and the steering mechanism assembly.the mast assembly control unit, the carrier device control unit, the picking attachment, the vehicle-based cart docking hardware, and the navigation subsystem; the cart docking subsystem is characterized by a storage cart docking field of view; and one or more vehicle controllers of the material handling vehicle execute vehicle functions to: (i) use the navigation subsystem to navigate the material handling vehicle along the inventory transit surface to a localized docking position where the cart's initial position is within the storage cart docking field of view, and (ii) use the cart docking subsystem to dock the mobile storage cart at the cart's initial position with the 122-fork carrier device assembly.

13. The product storage and retrieval system according to claim 1, characterized in that: the material handling vehicle further comprises one or more vehicle controllers; the picking attachment comprises a X-Y-Z-Ψ positioner; and one or more vehicle controllers perform vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment to engage and disengage a target tote placed on the racking system of the multi-level storage depot or placed on the mobile storage cart with the picking attachment.

14. The product storage and retrieval system according to claim 1, characterized in that: the material handling vehicle further comprises a navigation subsystem comprising a vision system; the multi-level storage depot racking system comprises a target fiducial associated with the target tote for guiding the coupling of the target tote with the picking attachment; the navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within the field of view of the vision system; the material handling vehicle further comprises one or more vehicle controllers and a picking attachment subsystem comprising the picking attachment and a time-of-flight (TOF) system; the picking attachment comprises a X-Y-Z-Ψ positioner;The picking attachment subsystem is configured to generate a target TOF depth map of a target tote; and one or more vehicle controllers of the material handling vehicle execute vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment subsystem to engage the target tote with the picking attachment based on the field of view of the vision system and the target TOF depth map.

15. The product storage and retrieval system according to claim 14, characterized in that: the material handling vehicle further comprises a navigation subsystem; and the navigation subsystem is configured to position the material handling vehicle so that the target tote is within the docking field of view of the TOF system tote. 124 16. The product storage and retrieval system according to claim 1, characterized in that the collection accessory comprises a positioner XY-Z-Ψ comprising: an X-positioner configured to move the collection accessory in a first degree of freedom along a first lateral axis in a lateral plane; a Y-positioner configured to move the collection accessory in a second degree of freedom along a second lateral axis perpendicular to the first lateral axis in the lateral plane; a Z-positioner configured to move the collection accessory in a third degree of freedom along a Z-axis perpendicular to the first lateral axis and the second lateral axis; and a rotating Ψ-positioner configured to rotate the collection accessory in a fourth degree of freedom about the Z-axis.

17. The product storage and retrieval system according to claim 1, characterized in that: the material handling vehicle further comprises a navigation subsystem comprising a vision system; the multi-level storage depot racking system comprises a target fiducial zQcrnn / cznz / q / uli 125 associated with the target tote to guide the coupling of the target tote with the picking attachment; and the navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within a field of view of the vision system.

18. The product storage and retrieval system according to claim 17, characterized in that the navigation subsystem is configured to use the target fiducial of the multi-level storage depot racking system to position the material handling vehicle so that the target tote is within a docking tote field of view of a picking attachment subsystem.

19. The product storage and retrieval system according to claim 17, characterized in that: the multi-level storage depot racking system comprises a plurality of target fiducials associated with the target tote; and one of the target fiducials is placed on the shelf of the rack module; and another of the target fiducials is placed on the target tote. 126 20. The product storage and retrieval system according to claim 1, characterized in that it further comprises a product receiving station comprising a product selection terminal equipped to remove totes from the mobile storage cart.

21. The product storage and retrieval system according to claim 1, characterized in that it further comprises a product receiving station, a product picking terminal, and an intermediate transfer station, wherein: the product picking terminal is equipped for removing totes from the mobile storage cart; and the intermediate transfer station is situated along a travel path of the mobile storage cart extending from a transfer node of the mobile storage cart to the product receiving station.

22. The product storage and retrieval system according to claim 1, characterized in that it further comprises a storage depot management computer center in communication with the conveyor and the material handling vehicle and programmed to instruct the conveyor and the material handling vehicle to coordinate the coupling, transport and uncoupling of the mobile storage cart in the zQcenn / eznz / q / uli 127 product storage and retrieval system.

23. The product storage and retrieval system according to claim 1, characterized in that it further comprises a plurality of REID tags embedded in the inventory transit surface at vehicle stopping locations, tote transfer zones, transfer nodes, collection site locations, or combinations thereof.

24. The product storage and retrieval system according to claim 1, characterized in that it further comprises a target fiducial associated with a target tote, wherein the target fiducial is arranged in a shelf module of the multi-level storage depot racking system, the target tote, or both, to guide the coupling of the target tote with the retrieval attachment.

25. A product storage and retrieval system, comprising a multi-level storage warehouse racking system, a material handling vehicle, a mobile storage cart, a conveyor comprising conveyor-based docking hardware and a lifting surface, a storage warehouse management computer center, and a product receiving station, characterized in that: the material handling vehicle comprises vehicle-based cart docking hardware, one or more vehicle controllers, a mast assembly, a picking attachment configured to access multiple levels of the multi-level storage warehouse racking system, a navigation subsystem comprising a vision system, and a picking attachment subsystem comprising the picking attachment and a time-of-flight (TOF) system;The conveyor-based docking hardware allows the conveyor to hook up, transport, and unhook the mobile storage cart at a variety of locations along an inventory transit surface of the product storage and retrieval system independently of the movement of the material handling vehicle within the product storage and retrieval system; the lifting surface is structurally configured to lift the mobile storage cart off the inventory transit surface on which the multi-level storage depot racking system is supported by raising the conveyor's lifting surface from a travel height to a transport height;The mobile storage cart is structurally configured to allow the conveyor to enter and exit a lifting zone beneath the mobile storage cart in at least two orthogonal directions, with the conveyor's lifting surface at the displacement height;The vehicle-based cart docking hardware is coupled to the mast assembly to move along a lift dimension of the mast assembly to (i) hook and unhook the mobile storage cart at a variety of locations along the inventory transit surface independently of the conveyor movement within the product storage and retrieval system, and (ii) transport the mobile storage cart to multiple levels of the multi-level storage depot racking system independently of the conveyor movement within the product storage and retrieval system; the multi-level storage depot racking system comprises a target fiducial associated with the target tote to guide the docking of the target tote with the picking attachment;The navigation subsystem is configured to position the material handling vehicle so that the target fiducial is within the field of view of the vision system; zQcenn / eznz / q / uli 130 The material handling vehicle picking attachment comprises a X-Y-Z-Ψ positioner and is configured to transfer totes between the multi-level storage depot racking system and the multi-level mobile storage cart of the multi-level storage depot racking system when the material handling vehicle engages the mobile storage cart; the picking attachment subsystem is configured to generate a target TOF depth map of a target tote;One or more vehicle controllers of the material handling vehicle execute vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment subsystem to engage the target tote with the picking attachment based on the field of view of the vision system and the target TOF depth map; the storage depot management computer center is in communication with the conveyor and the material handling vehicle and is programmed to instruct the conveyor and the material handling vehicle to coordinate the coupling, transport, and uncoupling of the mobile storage cart in the product storage and retrieval system; and the product receiving station comprises a zQcrnn / cznz / q / uli 131 product picking terminal equipped to remove totes from the mobile storage cart.

26. A material handling vehicle characterized in that it comprises: a vehicle body; a plurality of wheels supporting the vehicle body and defining a direction of travel for the vehicle body; a braking system, a traction control unit, and a steering mechanism assembly, each operatively coupled to one or more of the plurality of wheels; a mast assembly; a single-fork carrier assembly coupled to the mast assembly for movement along a lifting dimension of the mast assembly; and a transport, coupling, or uncoupling accessory configured to facilitate the transport, coupling, or uncoupling of materials by the material handling vehicle, wherein the single-fork carriage assembly comprises a hollow body portion housing at least a portion of the transport, coupling, or uncoupling accessory therein.

27. The material handling vehicle according to claim 26, characterized in that: the single-fork carrier assembly defines an operator compartment width that is oriented transversely to the direction of travel of the vehicle body; the width of the operator compartment is between about 100 cm and about 125 cm; the single-fork carrier assembly comprises a unitary material handling platform that is oriented transversely to the direction of travel of the vehicle body and defines a platform width parallel to the width of the operator compartment; and the platform width is at least about 75 cm and is less than the width of the operator compartment.

28. The material handling vehicle according to claim 27, characterized in that: the unitary material handling platform comprises a front face that is oriented transversely to the direction of travel of the vehicle body; and the front face of the platform forms a projecting arc that extends across the width of the platform and projects along the direction of travel of the vehicle body.

29. The material handling vehicle according to claim 27, characterized in that: the unitary material handling platform comprises at least two opposing pairs of vertically oriented trolley stabilizers; the two opposing pairs of trolley stabilizers 5 are located on opposite sides of the unitary material handling platform along the direction of travel of the vehicle body; and each trolley stabilizer comprises an inclined contact edge facing an opposite inclined contact edge 10 of a trolley stabilizer on an opposite side of the unitary material handling platform.

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