Systems and methods for the storage and transer of containers in automated storage and retrieval systems

Abstract

A system, for shared storage of containers, includes: a first storage wall; a first aisle disposed on a first side of the first storage wall; a second aisle disposed on a second side of the first storage wall; a shared storage location in the first storage wall, the shared storage location being directly accessible to mobile robots in both the first aisle and the second aisle such that the shared storage location is accessible to receive a deposit of a shared container from a first mobile robot from the first aisle and, following the deposit, the shared storage location is accessible to enable retrieval of the shared container by a second mobile robot from the second aisle; and a container blocker at the shared storage location, the container blocker configured to selectively block movement of a deposited container either toward the second aisle or toward the first aisle.

Description

Atty. Docket No. 1127P017376-WO (PCT)SYSTEMS AND METHODS FOR THE STORAGE AND TRANSER OF CONTAINERS IN AUTOMATED STORAGE AND RETRIEVAL SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] This application is a non-provisional of and claims the benefit of United States provisional patent application number 63 / 721,927, filed on November 18, 2024, and United States provisional patent application number 63 / 721,931, filed on November 18, 2024, the disclosures of which are incorporated herein by reference in their entireties.BACKGROUND1. Field

[0002] The present disclosure relates generally to automated storage and retrieval systems, and more particularly, to the transfer of containers to and from storage locations and mobile robots in such systems.2. Brief Description of Related Developments

[0003] Automated storage and retrieval systems generally include mobile robots that transfer containers to and from storage. When transferring a container from a storage location to a mobile robot and / or from a mobile robot to a storage location, automated storage and retrieval systems may include two storage walls between adjacent aisles, and containers may be placed such that a container may be placed or retrieved by the mobile robot from the adjacent aisle only. This configuration may result in single side bot access only for each storage wall, low cross system throughput, high mobile robot traffic and cycles, and substantial amounts of space to implement the system.Atty. Docket No. 1127P017376-WO (PCT)

[0004] Generally, in automated storage and retrieval systems containers are stored on either side of an aisle. Here, structurally there are two container storage walls between adjacent aisles and the containers are placed such that a target container can be placed or retrieved from the adjacent contiguous aisle only. This storage structure configuration facilitates an automated robot to transfer containers from both sides of the two container storage walls (again, the two container storage walls being located between two adjacent aisles) but limits a target container’s placement or retrieval from only a single aisle (i.e., from only one of the two container storage walls that is contiguous with the aisle) along which the container is stored.

[0005] Accordingly, the present disclosure addresses a number of those issues.BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The foregoing aspects and other features of the present disclosure are explained in the following description, taken in connection with the accompanying drawings, wherein:

[0007] Figs. 1-3 schematic perspective view illustrations of parts of an exemplary order fulfillment or storage facility that utilizes an automated storage and retrieval system, in accordance with the present disclosure;

[0008] Fig. 4 is a schematic perspective view illustration of a system, of the order fulfillment facility of Figs. 1-3, for the shared storage of containers, in accordance with the present disclosure;

[0009] Fig. 5 is a schematic side view illustration of the system for shared storage of containers of Fig. 4, in accordance with the present disclosure;

[0010] Figs. 6-9 are schematic side view illustrations of an exemplary shared storage location and shared container, of the system of Figs. 4 and 5, in accordance with the present disclosure;

[0011] Fig. 10 is a schematic perspective view illustration of a cross section of the shared storage location and shared storage container of Figs. 6-9, in accordance with the present disclosure;Atty. Docket No. 1127P017376-WO (PCT)

[0012] Fig. 11 is a schematic perspective view illustration of a container transfer mechanism and a container transfer by a mobile robot, of the order fulfdment or storage facility of Figs. 1-3, to and / or from the shared storage location of Figs. 4-10, in accordance with the present disclosure;

[0013] Fig. 12 is an exemplary flow diagram of a process or method of shared storage containers, in accordance with the present disclosure;

[0014] Figs. 13-15 schematically illustrate a system for the storage and transport of containers in the order fulfillment facility of Figs. 1-3 in accordance with the present disclosure;

[0015] Figs. 16 and 17 schematically illustrate a portion of the system for the storage and transport of containers of Figs. 13-15 in accordance with the present disclosure;

[0016] Figs. 18 and 19 schematically illustrate a portion of the system for the storage and transport of containers of Figs. 13-15 in accordance with the present disclosure;

[0017] Fig. 20 schematically illustrates a portion of the order fulfillment facility of Figs. 1-11 and 13-19 in accordance with the present disclosure; and

[0018] Fig. 21 is an exemplary flow diagram of a process or method of shared storage containers, in accordance with the present disclosure.DETAILED DESCRIPTION

[0019] The following detailed description is meant to assist the understanding of one skilled in the art, and is not intended in any way to unduly limit claims connected or related to the present disclosure.

[0020] The following detailed description is not to be taken in a limiting sense, but is made merely for the purpose of describing the general principles of the present disclosure.Atty. Docket No. 1127P017376-WO (PCT)

[0021] The following detailed description references various figures, where like reference numbers refer to like components and features across various figures, whether specific figures are referenced, or not.

[0022] The word “each” as used herein refers to a single object (i.e., the object) in the case of a single object or each object in the case of multiple objects. The words “a,” “an,” and “the” as used herein are inclusive of “at least one” and “one or more” so as not to limit the object being referred to as being in its “singular” form.

[0001] Spatial terms such as “left,” “right,” “top,” “bottom,” “upper,” “lower,” “front,” “back,” “vertical,” and “horizontal” as may be used herein are by way of example and illustration only are not meant to limit the description and may be exchanged in position and orientation.

[0023] The terms “substantially” and “about” as may be used herein refer to a feature that may be varied within an acceptable manufacturing tolerance for a given application.

[0024] Figs. 1-21 show parts of an order fulfillment facility 100 (or storage facility) that utilizes an automated storage and retrieval system (ASRS) in accordance with the present disclosure. Although the present disclosure will be described with reference to the drawings, it should be understood that the present disclosure could be embodied in many forms. In addition, any suitable size, shape or type of elements or materials could be used.

[0025] Generally speaking, pursuant to the present disclosure, systems, apparatuses, and methods are provided herein useful to the shared storage of locations for containers and to the storage and transfer of the containers.

[0026] The present disclosure provides for a system for shared storage of containers that includes one or more of:

[0027] a first storage wall including a first array of storage locations, each storage location configured to receive a container;Atty. Docket No. 1127P017376-WO (PCT)

[0028] a first aisle disposed on a first side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the first aisle;

[0029] a second aisle disposed on a second side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the second aisle;

[0030] a shared storage location in the first storage wall, the shared storage location being directly accessible to mobile robots in both the first aisle and the second aisle such that the shared storage location is accessible to receive a deposit of a shared container from a first mobile robot from the first aisle and, following the deposit, the shared storage location is accessible to enable retrieval of the shared container by a second mobile robot from the second aisle; and

[0031] a container blocker at the shared storage location, the container blocker including two ends with a stop at each end, the container blocker configured to selectively block movement of a deposited container either toward the second aisle, when deposited by the first mobile robot from the first aisle, or toward the first aisle, when deposited by the second mobile robot from the second aisle.

[0032] The container blocker may optionally one or more of, in any suitable combination:

[0033] include a platform pivotable about a fulcrum, the fulcrum intermediate a first end of the platform and a second end of the platform;

[0034] include a first stop portion at the first end of the platform;

[0035] include a second stop portion at the second end of the platform;

[0036] be configured to occupy an initial position not blocking either the first aisle or the second aisle, receive a first force at the first end during transfer of the shared container to the shared storage location from the first mobile robot, and pivot about the fulcrum in response to the first force to cause the second stop portion to move from the initial position to a blocking position to block the shared container from moving past the second end toward the second aisle;Atty. Docket No. 1127P017376-WO (PCT)

[0037] be configured to pivot about the fulcrum to return to the initial position after the shared container is received in the shared storage location; and / or

[0038] be configured to, following retrieval of the shared container from the shared storage location, occupy the initial position not blocking either the first aisle or the second aisle, receive a second force at the second end during transfer of a new shared container to the shared storage location from the second mobile robot, and pivot about the fulcrum in response to the second force to cause the first stop portion to move from the initial position to a blocking position to block the new shared container from moving past the first end toward the first aisle.

[0039] The shared storage location may include two spaced supports to each engage a first side and a second side of the shared container, and the container blocker may be disposed intermediate the two spaced supports.

[0040] The first and second mobile robots may each include: one or more push members engaging and moving the shared container from a respective one of the first and second mobile robots to the shared storage location; and / or one or more pull members engaging and moving the shared container from the shared storage location to a respective one of the first and second mobile robots. The one or more push members and / or the one or more pull members may include flippers that engage corresponding catch surfaces on the shared container.

[0041] The system may optionally include one or more of, in any suitable combination: a second storage wall on a side of the second aisle opposite the first storage wall, the second storage wall including a second array of storage locations configured to receive containers, the second mobile robot transferring the shared container from the shared storage location in the first storage wall to a new shared storage location in the second storage wall; and an inbound wall on an inbound side of the first aisle opposite the first storage wall, the inbound wall including an array of inbound locations configured to introduce containers and make containers accessible to the first aisle, the first mobile robot receiving the shared container from the inbound wall following deposit of the shared container at the inbound wall.Atty. Docket No. 1127P017376-WO (PCT)

[0042] The present disclosure provides for a method for shared storage of containers. The method includes one or more of:

[0043] by mobile robots, directly accessing a first array of storage locations at a first storage wall, each storage location configured to receive a container, the first array of storage locations being directly accessible to mobile robots moving along a first aisle disposed on a first side of the first storage wall, and the array of storage locations being directly accessible to mobile robots moving along a second aisle disposed on a second side of the first storage wall;

[0044] at a shared storage location in the first storage wall, the shared storage location being directly accessible to mobile robots in both the first aisle and the second aisle, receiving a deposit of a shared container from a first mobile robot from the first aisle and, following the deposit, enabling retrieval of the shared container by a second mobile robot from the second aisle; and / or

[0045] by a container blocker at the shared storage location, selectively blocking movement of a deposited container either toward the second aisle, when deposited by the first mobile robot from the first aisle, or toward the first aisle, when deposited by the second mobile robot from the second aisle.

[0046] The container blocker may optionally include a platform pivotable about a fulcrum, the fulcrum intermediate a first end of the platform and a second end of the platform, a first stop portion at the first end of the platform, and a second stop portion at the second end of the platform;

[0047] The method may optionally include one or more of, in any suitable combination:

[0048] by the container blocker: occupying an initial position not blocking either the first aisle or the second aisle, receiving a first force at the first end during transfer of the shared container to the shared storage location from the first mobile robot, and pivoting about the fulcrum in response to the first force to cause the second stop portion to move from the initial position to a blocking position to block the shared container from moving past the second end toward the second aisle;Atty. Docket No. 1127P017376-WO (PCT)

[0049] by the container blocker: pivoting about the fulcrum to return to the initial position after the shared container is received in the shared storage location; and

[0050] retrieving the shared container from the shared storage location, by the container blocker: occupying the initial position not blocking either the first aisle or the second aisle, receiving a second force at the second end during transfer of a new shared container to the shared storage location from the second mobile robot, and pivoting about the fulcrum in response to the second force to cause the first stop portion to move from the initial position to a blocking position to block the new shared container from moving past the first end toward the first aisle.

[0051] In the method, the shared storage location may optionally include two spaced supports to each engage a first side and a second side of the shared container, and the container blocker may be disposed intermediate the two spaced supports.

[0052] The method may optionally include: by one or more push members of the first and second mobile robots, engaging and moving the shared container from a respective one of the first and second mobile robots to the shared storage location; and / or by one or more pull members of the first and second mobile robots, engaging and moving the shared container from the shared storage location to a respective one of the first and second mobile robots.

[0053] The one or more push members and / or the one or more pull members may include flippers that engage corresponding catch surfaces on the shared container.

[0054] The method may optionally include, by the second mobile robot: transferring the shared container from the shared storage location in the first storage wall to a new shared storage location in a second storage wall on a side of the second aisle opposite the first storage wall, the second storage wall comprising a second array of storage locations configured to receive containers.

[0055] The method may optionally include, by the first mobile robot: receiving the shared container from an inbound wall on an inbound side of the first aisle opposite the first storage wall following deposit of the shared container at the inbound wall, the inbound wall comprising anAtty. Docket No. 1127P017376-WO (PCT)array of inbound locations configured to introduce containers and make containers accessible to the first aisle.

[0056] In accordance with the present disclosure, a system for storage and transport of containers (which may be employed with the shared storage of locations for containers and methods therefor noted above and described herein) includes one or more of:

[0057] a first storage wall including a first array of storage locations, each storage location configured to receive a container;

[0058] a first aisle disposed on a first side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the first aisle;

[0059] a first storage location in the first storage wall; a second storage wall including a second array of storage locations, each storage location configured to receive a container;

[0060] a second aisle disposed on a second side of the second storage wall, the second array of storage locations being directly accessible to mobile robots moving along the second aisle;

[0061] a second storage location in the second storage wall; and

[0062] a container transporter disposed at and / or between the first storage location and the second storage location, the container transporter operating to move containers between the first storage location and the second storage location.

[0063] The container transporter may include a belt conveyor and / or a plurality of rollers.

[0064] The container transporter may be configured to support and store one or more containers at one or more intermediate locations between the first storage location and the second storage location.

[0065] The container transporter may be configured to transport a container at an intermediate location to the first storage location or the second storage location.Atty. Docket No. 1127P017376-WO (PCT)

[0066] A distance between the first storage location and the second storage location may be less than a depth dimension of either the first storage location or the second storage location.

[0067] The container transporter may operates to directly move containers between the first and second storage locations without an intermediate storage location.

[0068] The system for storage and transport of containers may include a plurality of container transporters connecting a plurality of first storage locations in the first storage wall with a corresponding plurality of second storage locations in the second storage wall.

[0069] The system for storage and transport of containers may include: a third storage location adjacent the first storage location in the first storage wall; and a fourth storage location adjacent the second storage location in the second storage wall; wherein the container transporter is disposed at and / or between the first and third storage locations at a first end and the second and fourth storage locations at a second end.

[0070] The container transporter may include a plurality of rollers.

[0071] The plurality of rollers may be disposed between an end of the first storage location adjacent the first aisle and an end of the second storage location adjacent the second aisle.

[0072] The container transporter may define a predetermined number of storage locations extending from the first storage location at a first end to the second storage location at a second end.

[0073] The system for storage and transport of containers may include a plurality of rollers including a subset of powered rollers, each of the predetermined number of storage locations including at least one powered roller.

[0074] In accordance with the present disclosure, a method for storage and transport of containers is provided. The method includes one or more of:Atty. Docket No. 1127P017376-WO (PCT)

[0075] receiving containers in storage locations in a first storage wall including a first array of storage locations, a first aisle disposed on a first side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the first aisle, a first storage location being disposed in the first storage wall;

[0076] receiving containers in storage locations in a second storage wall including a second array of storage locations, a second aisle disposed on a second side of the second storage wall, the second array of storage locations being directly accessible to mobile robots moving along the second aisle, a second storage location being disposed in the second storage wall; and / or

[0077] by a container transporter disposed at and / or between the first storage location and the second storage location, moving containers between the first storage location and the second storage location.

[0078] The container transporter may include a belt conveyor and / or a plurality of rollers.

[0079] The method may include, by the container transporter, supporting and storing one or more containers at one or more intermediate locations between the first storage location and the second storage location.

[0080] The method may include, by the container transporter, transporting a container at an intermediate location to the first storage location or the second storage location.

[0081] A distance between the first storage location and the second storage location may be less than a depth dimension of either the first storage location or the second storage location.

[0082] The method may include, by the container transporter, operating to directly move containers between the first and second storage locations without an intermediate storage location.

[0083] The method may include, by a plurality of container transporters, connecting a plurality of first storage locations in the first storage wall with a corresponding plurality of second storage locations in the second storage wall.Atty. Docket No. 1127P017376-WO (PCT)

[0084] The method may include: a third storage location adjacent the first storage location in the first storage wall; a fourth storage location adjacent the second storage location in the second storage wall; wherein the container transporter is disposed at and / or between the first and third storage locations at a first end and the second and fourth storage locations at a second end.

[0085] The container transporter may include a plurality of rollers, the plurality of rollers being disposed between an end of the first storage location adjacent the first aisle and an end of the second storage location adjacent the second aisle.

[0086] The container transporter may define a predetermined number of storage locations extending from the first storage location at a first end to the second storage location at a second end.

[0087] The method may include a plurality of rollers including a subset of powered rollers, each of the predetermined number of storage locations including at least one powered roller.

[0088] Without limitation, this disclosure may involve generally a facility, such as an order fulfillment facility and system, which may include multiple mobile robots that operate to pick and transfer containers in the context of an automated storage and retrieval system (ASRS).

[0089] This disclosure may involve generally the order fulfillment facility and a system that may involve the shared storage and transfer of containers to and from storage locations and mobile robots. The transfer of containers to and from the mobile robots may be into and out of storage locations in storage walls within an automated storage and retrieval system.

[0090] With transfer of a container from a storage location to a mobile robot and / or from a mobile robot to a storage location, the automated storage and retrieval system may include two storage walls (e.g., double storage walls) between adjacent aisles, and containers may be placed such that a container may be placed or retrieved from the adjacent aisle only. In accordance with the present disclosure, one storage wall may be included between two aisles such that the single storage wall is accessible from two sides by mobile robots. This configuration may decrease system size, allowing for less storage density and more operational space within a facility, increase cross systemAtty. Docket No. 1127P017376-WO (PCT)throughput, and reduce mobile robot traffic by providing additional pathways for containers during transfer.

[0091] This disclosure may be directed to increasing flexibility by adding the use of single storage walls to the facility such that the facility may combine the use of single and double storage walls in any of various desired proportions in different areas of the facility.

[0092] This disclosure may allow containers to be passed through a storage wall from one robot in one aisle on one side of the storage wall to another robot in another aisle on the other side of the storage wall.

[0093] Mobile robots may move about a storage structure, of the order fulfillment facility, and retrieve containers of goods (which may also be referred to as totes) that are stored in specific storage locations in the facility, as part of the ASRS.

[0094] The order fulfillment facility may include container processing stations, also referred to as tote processing stations or workstations, where containers, or totes, may be inducted into or dispensed from the ASRS. These containers may be transferred at the container processing stations to and from the mobile robots.

[0095] Without limitation, the present disclosure may involve generally an order fulfillment facility and system that may involve the storage and transfer of containers to and from storage locations and mobile robots.

[0096] The facility may include two adjacent storage walls with storage locations for the transfer of containers to and from mobile robots moving along aisles. It may be desirable to increase storage density by using some of the space between the two storage walls for additional storage. Also, it may be desirable to be able to shift, or pass through, containers from one storage wall to the other storage wall so that they may be retrieved by a mobile robot in an adjoining aisle.

[0097] Without limitation, the present disclosure may relate to the transfer of containers to and from storage walls within the ASRS.Atty. Docket No. 1127P017376-WO (PCT)

[0098] Two storage walls may be included between two aisles, and a container transporter between the two storage walls may transport containers from a first storage wall to a second storage wall. This configuration may allow access to a container from multiple aisles and may allow for additional storage between two storage walls, which may reduce mobile robot traffic by providing additional pathways for containers during transfer.

[0099] Without limitation, the present disclosure may be directed to increasing flexibility by adding the use of container transporters between storage walls of the facility such that the facility may combine the use of storage walls inclusive and non-inclusive of container transporters in any of various desired proportions in different areas of the facility.

[0100] The present disclosure may provide for containers to be passed through a storage wall from one mobile robot in one aisle on one side of the storage wall to another mobile robot in another aisle on one side of another storage wall. This configuration may allow for the more efficient use of space and allow for more operational space within a facility.

[0101] Figs. 1-3 show parts of an order fulfillment facility 100 (or storage facility) that utilizes an automated storage and retrieval system (ASRS) in accordance with the present disclosure. As part of the ASRS. Figs. 1 and 2 show a storage structure 102 that is generally configured or otherwise intended to store various items at a number of storage locations 104.

[0102] The storage structure 102 may include a y-z array of storage locations 104 in horizontal rows and climbing channels 105 (which also may be referred to as vertical towers or level changing towers) along the rows.

[0103] Mobile robots 128 (see Figs. 5, 11, and 12) may travel between storage levels in the z-direction within the climbing channels 105.

[0104] Rows of storage locations 104 may be arranged to face each other, separated by horizontal pathways or aisles 106.Atty. Docket No. 1127P017376-WO (PCT)

[0105] The storage structure 102 may include decks 108 (which may also be referred to as transit planes or areas) spaced apart at different horizontal levels of the storage structure 102.

[0106] The decks 108 may extend between the aisles 106 so that mobile robots 128 (see Figs. 5, 11, and 12) can maneuver in the x-y plane of each deck 108 to travel between different aisles 106.

[0107] Details relating to the general structure and operation of the storage structures and mobile robots described herein, such as may be used in conjunction with this disclosure, are disclosed in U.S. Patent No. 9,139,363, issued September 22, 2015, entitled “Automated System for Transporting Payloads”; U.S. Patent No. 10,040,632, issued August 7, 2018, entitled” Automated System for Transporting Payloads”; U.S. Patent 10,435,241, issued October 8. 2019, entitled “Storage and Retrieval System”; U.S. Patent No. 10,952,533, issued March 23, 2021, entitled “Modular Structure for an Automated Storage and Retrieval System”; and U.S. Patent No.11,142,398, issued October 12, 2021, entitled “Order Fulfillment System”; which patents are all incorporated by reference herein in their entirety.

[0108] Fig. 3 shows container processing stations 110 at the order fulfillment facility 100 in accordance with the present disclosure.

[0109] Operators (human individuals and / or robotic operators) may work at container processing stations 110 of the order fulfillment facility 100.

[0110] Various operations may be performed at the container processing stations 110. Mobile robots 128 (see, e.g., Figs. 5, 11, and 12) may perform transport operations including, but not limited to, moving or otherwise transporting containers 118 (see. e.g., Figs. 5-11) between storage locations 104 and the container processing stations 110, and moving or otherwise transporting order containers 118 filled with ordered goods (e.g., order containers) away from the container processing stations 110.[Oil 1] Examples of container processing stations 110 and picking and transfer operations, such as may be used in conjunction with this disclosure, are disclosed, for example, in U.S. Patent No.11,845,610, issued December 19, 2023, entitled “Automated Decant System”; U.S. PatentAtty. Docket No. 1127P017376-WO (PCT)Publication No. 2021 / 0380343, published December 9, 2021, entitled “Robotic Each Picking in a Micro-Fulfillment Center”; and U.S. Patent No. 10,984,375, issued April 20, 2021, entitled “Picking Workstation with Mobile robots and Machine Vision Verification of Each Transfers Performed by Human Operators,” all of which are incorporated by reference herein in their entireties.

[0112] Figs. 4-5 and 13-15 show a system 112 of the order fulfillment facility 100 configured for the shared storage of containers 118 in accordance with the present disclosure.

[0113] The system 112 may be employed as a part of an overall ASRS.

[0114] With reference to Figs. 4-5, it is generally contemplated that the system 112 allows for containers 118 to be received and dispensed within the order fulfillment facility 100. The system 112 may facilitate the shared transfer of containers 118 at locations within the order fulfillment facility 100.

[0115] With reference to Figs. 13-15, it is generally contemplated that the system 112 allows for containers to be received and transferred within the order fulfillment facility 100. In one form, the system 112 facilitates the storage and transfer of containers at locations within the order fulfillment facility 100.

[0116] It is noted that the features described herein with respect to Figs. 4-5 and the features described herein with respect to Figs. 13-15 may be employed in combination with each other or individually. It is noted that like / same reference numbers in the figures indicate that like / same features are illustrated (i.e., the same reference number is used for the same feature throughout the figures).

[0117] The system 112 may include a first storage wall 114.

[0118] The first storage wall 114 may include a first array of storage locations 104, and each storage location 104 is configured to receive a container 118.Atty. Docket No. 1127P017376-WO (PCT)

[0119] The array of storage locations 104 generally includes multiple vertically spaced rows of storage locations 104.

[0120] The system 112 may include a first aisle 120 (of the aisles 106) disposed on a first side 122 of the first storage wall 114, and a second aisle 124 (of the aisles 106) disposed on a second side 126 of the first storage wall 114.

[0121] The first array of storage locations 104 is directly accessible at the first side 122 to mobile robots 128 moving along the first aisle 120 and / or directly accessible at the second side 126 to mobile robots 128 moving along the second aisle 124. The first array of storage locations 104 may include any combination of shared storage locations 116 accessible from both the first side 122 and the second side 126 of the first storage wall 114 and storage locations 104 accessible from only one of the first side 122 or the second side 126 of the first storage wall 114.

[0122] It is contemplated that all of the storage locations 104 are preferably shared storage locations 116 accessible from both sides although, some of the storage locations 104 may only be accessible from one side. It is generally contemplated that the shared storage location 116 is a type of storage location 104. Generally, the storage structure 102 includes multiple storage walls 114 in any of various numbers and configurations.

[0123] The shared storage location 116 in the first storage wall 114 is directly accessible to mobile robots 128 on both the first aisle 120 and the second aisle 124 such that the shared storage location 116 is accessible to receive a deposit of a shared container 118 from a first mobile robot 128 from the first aisle 120. Following the deposit of the shared container 118 into the shared storage location 116, the shared storage location 116 may also be accessible to enable the retrieval of the same (or different) shared container 118 by a second mobile robot 128 from the second aisle 124.

[0124] The shared storage location 116 is preferably configured such that the shared container 118 may be deposited and / or removed from either side 122, 126 of the storage wall 114 by a mobile robot 128. Notably, while Fig. 5 shows the shared container 118 passing through the first storage wall 114 from the first side 122 to the second side 126, the shared container 118 may also be removable from the same side 122, 126 of the first storage wall 114 where the deposit was made.Atty. Docket No. 1127P017376-WO (PCT)

[0125] While the present disclosure may utilize an autonomous container 118 transfer process, it is understood that, in some circumstances, the transfer of the shared container 118 may be done manually and / or autonomously by the ASRS system.

[0126] Referring to Figs. 4 and 5, the system 112 may include the first storage wall 114, a second storage wall 148, and / or an inbound wall 150.

[0127] The second storage wall 148 may be on a side of the second aisle 124 opposite of the first storage wall 114.

[0128] The second storage wall 148 may include a second array of storage locations 104 configured to receive the shared container 118. The second array of storage locations 104 may generally include multiple vertically spaced rows of storage locations 104.

[0129] The second mobile robot 128 may transfer the shared container 118 from the shared storage location 116 in the first storage wall 114 to a new shared storage location 116 in the second storage wall 148 (see Fig. 5).

[0130] The second storage wall 148 may be an outbound wall that receives the shared container 118 at the new shared storage location 116 from the second mobile robot 128 on the side of the second storage wall 148 adjacent the first storage wall 114.

[0131] When the second storage wall 148 is an outbound wall, the shared container 118 may be removed (manually and / or autonomously) from the opposite side of the second storage wall 148 and moved elsewhere within the order fulfillment facility 100. For example, the shared container 118 may be moved to a container processing station 110, an additional storage location 104, an additional storage structure 102, etc.

[0132] The inbound wall 150 may be on an inbound side of the first aisle 120 opposite the first storage wall 114.

[0133] The inbound wall 150 may include an array of inbound storage locations 104 configured to introduce containers 118 and make the containers 118 accessible to the first aisle 120.Atty. Docket No. 1127P017376-WO (PCT)

[0134] The first mobile robot 128 may receive the shared container 118 from the inbound wall 150 following the deposit of the shared container 118 at the inbound wall 150.

[0135] In some aspects of the present disclosure, the shared container 118 may be deposited (manually and / or autonomously) into the inbound wall 150 from a side of the inbound wall 150 opposite the first aisle 120.

[0136] The inbound wall 150 and the second storage wall 148 may include any combination of shared storage locations 116 accessible from both sides and storage locations 104 accessible from only one side of the storage wall 114.

[0137] As shown in Fig. 5, an individual 115 may transport a container 118 from a cart 113 to a storage location 116 on an inbound wall 150.

[0138] The transfer of a container 118 into a storage location 116 may be transferred to and / or from a storage location 116 by any combination of manual and / or mechanical means (i.e., by an individual 115 and / or any suitable robotic operator).

[0139] From the inbound wall 150, a first mobile robot 128 may retrieve the container 118 and transfer it to a storage location 116 in a first storage wall 114.

[0140] From the first storage wall 114, a second mobile robot 128 may retrieve the container 118 and transfer it to a storage location 116 in a second storage wall 148, which may be an outbound wall. If the second storage wall 148 is an outbound wall, an individual 115 (or robotic operator) may retrieve the container 118 from the other side of the outbound wall (i.e., the side opposite the second aisle 124). In this manner, in some aspects of the present disclosure, a container 118 may be moved through the system from an inbound side to an outbound side.

[0141] It is generally contemplated that there may be various numbers, configurations, and operations of storage walls 114, inbound walls 150. and second storage walls (or outbound walls) 148.Atty. Docket No. 1127P017376-WO (PCT)

[0142] As a non-limiting example, there may be any number of storage walls 114 between the inbound wall 150 and the second storage wall 148.

[0143] The first storage wall 114, the inbound wall 150, and the second storage wall 148 may optionally be structurally identical but with distinct functions. As a non-limiting example, the containers 118 may be dispensed from the second storage wall 148 to elsewhere in the order fulfillment facility 100, the containers 118 may be deposited into the inbound wall 150 from elsewhere in the order fulfillment facility 100. and / or shared container 118 may be transferred to / from a storage wall 114 from / to an additional storage wall 114 (which may, for instance, be either another storage wall 114, the second storage wall 148, and / or the inbound wall 150).

[0144] The storage locations 104 (including the shared storage location 116) may include spaced supports 144 (which may also be referred to as container supports, container guides, and / or support rails - see, e.g., Figs. 4 and 6-11).

[0145] Each spaced support 144 may generally be in the form of an L-shaped member.

[0146] The spaced supports 144 may be in the form of plastic (or other suitable material) guides that are each supported on a longitudinal rail of a respective one or the inbound wall 150. storage wall 114, and / or the second storage wall 148.

[0147] As illustrated, a pair of spaced supports 144 supports a container 118 thereon (e.g., where the pair of spaced supports forms a respective storage location 116).

[0148] Two spaced supports 144 engage a first side 146 of the shared container 118 and a second side 147 (opposite the first side 146) of the shared container 118. For example, one of the two spaced supports 144 engages one of the first side 146 and second side 147 of the shared container 118 while the other of the two spaced supports 144 engages the other of the first side 146 and second side 147.Atty. Docket No. 1127P017376-WO (PCT)

[0149] The spaced supports 144 may be used to guide the shared container 118 into the shared storage location 116 and may generally define the width dimension of the shared storage location 116.

[0150] The spaced supports 144 may restrict movement of the container 118 horizontally in a direction parallel to the length of the aisles 106.

[0151] The spaced supports 144 may guide the container 118 into its intended shared storage location 116 within the storage wall 114 in a direction perpendicular to the length of the aisle 106, i.e., in a depth direction of the shared storage location 116.

[0152] Each spaced support 144 may be coupled to a portion of the respective storage wall 114, second storage wall 148, and / or inbound wall 150.

[0153] Figs. 6-9 show the shared storage location 116 and the shared container 118 in accordance with the present disclosure. The shared storage location 116 may include a container blocker 130.

[0154] The container blocker 130 may include two ends 132 with a stop 134 at each end 132.

[0155] The container blocker 130 may generally be configured to selectively block movement of a container 118, deposited or otherwise disposed or seated in a respective storage location 116, either toward the second aisle 124 when deposited by the first mobile robot 128 from the first aisle 120, or toward the first aisle 120 when deposited by the second mobile robot 128 from the second aisle 124.

[0156] The container blocker 130 may include a platform 136 pivotable about a fulcrum 138.

[0157] The fulcrum 138 may generally be disposed intermediate a first end 132A of the platform 136 and a second end 132B of the platform 136 (see, e.g., Figs. 7 and 8).

[0158] A first stop portion 134A may be disposed at the first end 132A of the platform 136, and a second stop portion 134B may be disposed at the second end 132B of the platform 136 (see, e.g., Figs. 7 and 8).Atty. Docket No. 1127P017376-WO (PCT)

[0159] The platform 136 may be any of various shapes and sizes, but it is generally contemplated that the platform includes two stops 134A, 134B at its ends 132A, 132B to limit overshooting of a shared container 118 (e.g.. “overshooting” being the passage of the container beyond the bounds of the storage location 116 in the direction of container insertion into the storage location 116) being deposited in the shared storage location 116.

[0160] The platform 136 may optionally be a flat surface (such as a board, tray, etc.) with two ends 132, each end 132 (e.g., ends 132A, 132B) being adjacent to an aisle 106 on either side of the storage wall 114.

[0161] The platform 136 may optionally be a curved surface, which is wider in the middle and thinner at the ends 132.

[0162] Optionally, the platform 136 may be disposed upon a support surface of the first storage wall 114 with the middle portion being in contact with the support surface and the ends 132 being above the support surface.

[0163] The length of the platform 136 may be configured such that the length of the shared container 118 from a leading edge 158 to a trailing edge 162 preferably fits between the stops 134 (e.g., stops 134A, 134B) of the platform 136.

[0164] Generally, the leading edge 158 is the side of the shared container 118 which first enters or exits the shared storage location 116 respective to the opposite side (or trailing edge 162) of the shared container 118.

[0165] The container blocker 130 is optionally positioned between the two spaced supports 144 of the shared storage location 116 such that the width of the platform 136 is less than the distance between the two spaced supports 144. As stated, the platform 136 may generally have any suitable shape, size, width, length, thickness, etc.

[0166] The fulcrum 138 may be in the form of a hole in the platform 136 receiving a pin or other fastener at the storage wall 114 and defining a pivot point although, any suitable rotatably orAtty. Docket No. 1127P017376-WO (PCT)pivoting coupling may be employed between the platform 136 and storage wall 114 to form the fulcrum 138.

[0167] Fulcrum 138 of the platform 136 may include a hole (e.g., the platform includes the hole and form at least a part of the fulcrum 138) that may be used to couple the container blocker 130 to the storage wall 114 and that allows rotation of the platform 136 about the pivot point.

[0168] The fulcrum 138 may include, or may receive (e.g., the hole formed in the platform 136 may receive), any suitable rod, nut, pin, or other fastener that is inserted through the hole of the platform 136, couples the container blocker 130 to the first storage wall 114, and allows for pivotal rotation of the platform 136 about the pivot point defined by the hole and fastener.

[0169] The fulcrum 138 may include a pin that couples the container blocker 130 to a bar and / or rail along the bottom of the shared storage location 116 via the hole in the platform 136.

[0170] The stops 134 may optionally be in the form of upward protrusions at the ends 132 of the platform 136.

[0171] As shown in Figs. 6-9, the stops 134 (134A, 134B) extend upwardly from the platform 136 at generally a 90-degree angle.

[0172] The stops 134 (134A, 134B) may generally have any of various desired shapes and sizes and any of various desired placements, heights, angles, etc., relative to the platform 136 so as to engage the shared container 118 and arrest or otherwise block movement of the shared container 118 through the storage location 116.

[0173] It is generally contemplated that the heights of the stops 134 (134A, 134B) are configured such that the top of at least one of the stops 134 is above a bottom surface 160 of the shared container 118 (see, e.g., Fig. 9) so as to actively stop movement a shared container 118 being deposited at the shared storage location 116 from moving past the shared storage location 116 in the direction of travel of the shared container 118 into the shared storage location 116.Atty. Docket No. 1127P017376-WO (PCT)

[0174] The container blocker 130 may be configured to occupy an initial position 140 (as shown in Fig. 6) not blocking entry / exit to / from the shared storage location 116 from either the first aisle 120 (e.g.. from a first side of the shared storage location 116) or the second aisle 124 (e.g., from a second side of the shared storage location 116). If either stop 134A, 134B is too high, the stop 134A, 134B may tend to block a deposit from one of the two sides of the shared storage location 116.

[0175] From this initial position, the container blocker 130 may receive a first force at the first end 132A during transfer of the shared container 118 to the shared storage location 116 from the first mobile robot 128 (e.g., the force on the container blocker 130 by the first mobile robot 128 may be generated in any suitable manner such as, but not limited to, by an extension of a transfer arm of the mobile robot where one or more of the transfer arm and container contact the container blocker to exert the force on the container blocker).

[0176] The container blocker 130 may pivot about the fulcrum 138 in response to the first force to cause the second stop portion 134B to move from the initial position 140 to a blocking position 142 (as shown in Figs. 7 and 8) to block the shared container 118 from moving past the second end 132B toward the second aisle 124. The container blocker 130 may be configured to pivot about the fulcrum 138 to return to the initial position 140 (as shown in Fig. 9) after the shared container 118 is received in the shared storage location 116. The container blocker 130 may be biased in the initial position 140 in any suitable manner including, but not limited to, springs, weight balancing, etc.

[0177] Following retrieval of the shared container 118 from the shared storage location 116, the container blocker 130 may be configured to occupy the initial position 140 not blocking entry / exit to / from the shared storage location 116 from either the first aisle 120 or the second aisle 124. In other words, following retrieval of the shared container 118, the container blocker 130 returns to the initial position 140. The container blocker 130 may then receive a second force (e.g., generated in a manner similar to that of the first force, but by the second mobile robot 128) at the second end 132B during transfer of a new shared container 118 to the shared storage location 116 from the second mobile robot 128. The container blocker 130 may pivot about the fulcrum 138 in responseAtty. Docket No. 1127P017376-WO (PCT)to the second force to cause the first stop portion 134A to move from the initial position 140 to a blocking position 142 to block the new shared container 118 from moving past the first end 132A towards the first aisle 120.

[0178] The container blocker 130 is configured to allow a shared container 118 to enter the shared storage location 116 from either side (e.g., the side through which the container enter may be referred to as the entry side). Upon deposit of the shared container 118, the container blocker 130 stops the shared container 118 from moving out of the shared storage location 116 in its direction of travel into the shared storage location 116 (e.g., blocking exit of the shared container 118 from a side of the shared storage location opposite the entry side).

[0179] The container blocker 130 is configured to allow the shared container 118 to be removed from either side of the shared storage location 116.

[0180] As shown in Fig. 6, prior to the transfer of the shared container 118 into the shared storage location 116, the container blocker 130 begins in the initial position 140. Fig. 7 shows the shared container 118 partially inserted into the shared storage location 116. The leading edge 158 of the shared container 118 first enters the shared storage location 116 during the transfer of the shared container 118 into the shared storage location 116. As the shared container 118 begins its transfer into the shared storage location 116, the bottom surface 160 of the shared container 118 adjacent to the leading edge 158 exerts the first force described above in a downwards direction on the first end 132 A of the container blocker 130. In response to the first force, the platform 136 pivots about the fulcrum 138 such that the first end 132A of the container blocker 130 is lower than it is in the initial position 140 and the second end 132B of the container blocker 130 is higher than it is in the initial position 140. In other words, the second end 132B of the container blocker 130 is in a blocking position 142.

[0181] Fig. 8 shows the shared container 118 fully inserted into the shared storage location 116 with the container blocker 130 in the blocking position 142. When the second end 132B of the container blocker 130 is higher than it is in the initial position 140. the inside of the second stopAtty. Docket No. 1127P017376-WO (PCT)portion 134B abuts the leading edge 158 of the shared container 118. It stops any further movement of the shared container 118 in the direction of travel past the shared storage location 116.

[0182] The second force described above may be similar to the first force but in a downwards direction on the second end 132B of the container blocker 130 (rather than on the first end 132A).

[0183] Generally, in response to the second force, the platform 136 pivots about the fulcrum 138 such that the second end 132B of the container blocker 130 is lower than it is in the initial position 140 and the first end 132A of the container blocker 130 is higher than it is in the initial position 140. When the first end 132A of the container blocker 130 is higher than it is in the initial position 140, the inside of the first stop portion 134A abuts the leading edge 158 of the shared container 118 and stops any further movement of the shared container 118 in the direction of travel past the shared storage location 116.

[0184] During removal of the shared container 118 from the shared storage location 116, the shared container 118 may exert similar forces on the container blocker 130 such that the platform 136 pivots in the manner described above. For example, if the shared container 118 is removed in a direction of removal towards the first end 132A, it will push the first end 132A of the container blocker 130 downwards as the platform 136 pivots and the second end 132B of the container blocker 130 will move upwards. Alternately, if the shared container 118 is removed in a direction of removal towards the second end 132B, it will push the second end 132B of the container blocker 130 downwards as the platform 136 pivots and the first end 132A of the container blocker 130 will move upwards. The container blocker 130 may be configured (e.g., shaped and sized) in any suitable manner so that a mobile robot 128 can remove the shared container 118 without interference from the container blocker 130.

[0185] It is generally contemplated that the container blocker 130 operates as an unaided mechanical pivoting mechanism however, the container blocker 130 may be configured such that the platform 136 pivots about the fulcrum 138 with the aid of a suitable motor and / or mechanical actuator, rather than an unaided physical force as described above.Atty. Docket No. 1127P017376-WO (PCT)

[0186] As a non-limiting example of the container blocker 130 being aided in operation, when the mobile robot 128 begins the transfer of a shared container 118 into a shared storage location 116, a control circuit (e.g., controlled by a controller of the order fulfillment facility 100) may signal to and / or cause the container blocker 130 to pivot (e.g., under impetus of the motor / actuator) such that the end 132 of the platform 136 adjacent the shared container 118 is lowered during entry.

[0187] It is contemplated that the movement of the container blocker 130 may be controlled by any suitable control circuit or controller. In this context, the terms control circuit and controller refer broadly to any microcontroller, computer, or processor-based device with processor, memory, and programmable input / output peripherals, which is generally designed to govern the operation of other components and devices.

[0188] The control circuit or controller may be understood to include common accompanying accessory devices, including memory, transceivers for communication with other components and devices, etc. These architectural options are well known and understood in the art and require no further description here. The control circuit or controller may be configured (for example, by using corresponding programming stored in a memory as will be well understood by those skilled in the art) to conduct one or more of the steps, actions, and / or functions described herein.

[0189] As described above, following deposit or removal of a shared container 118, the container blocker 130 generally returns to the initial position 140 when there is no force on either end 132 of the platform 136.

[0190] The container blocker 130 may include a dampening mechanism configured to delay and / or control the amount of time it takes the container blocker 130 to return to the initial position 140 from the blocking position 142.

[0191] The dampening mechanism may be configured to retain the container blocker 130 in the blocking position 142 for a predetermined amount of time before returning to the initial position 140.Atty. Docket No. 1127P017376-WO (PCT)

[0192] The dampening mechanism may be any suitable hydraulic damper, dashpot, spring, etc., configured to slow and / or control the transition of the container blocker 130 back to the initial position 140 from the blocking position 142.

[0193] Fig. 10 shows a cross section of the shared storage location 116 and shared container 118 in accordance with the present disclosure. As described above, a support surface 164 may be under the container blocker 130.

[0194] When in the blocking position 142 the bottom of a stop 134 may abut the support surface 164.

[0195] The support surface 164 may prevent the container blocker 130 from continuing to pivot.

[0196] The support surface 164 shown in Fig. 10 may be in the form of two distinct surfaces underneath each container blocker end 132 and spanning the length of the storage wall 114 parallel to an aisle 106 although, the support surface 164 may have any suitable configuration and be disposed at any location relative to the shared storage location 116 for stopping rotational movement of the container blocker 130.

[0197] A width of the container blocker 130 from a first side 166 to a second side 168 may be small relative to the width of the shared storage location 116.

[0198] The width of the shared storage location 116 is generally the distance between the spaced supports 144 of the shared storage location 116.

[0199] The width of the container blocker 130 is significantly less than the width between the spaced supports 144.

[0200] The container blocker 130 may be coupled (e.g., at the fulcrum) to the shared storage location 116 via a support bar 170.

[0201] The support bar 170 may be a bar with a plurality of holes configured to couple attachments to the bar.Atty. Docket No. 1127P017376-WO (PCT)

[0202] As shown in Fig. 10, the container blocker 130 is coupled to the support bar 170 at the fulcrum 138 in any suitable manner.

[0203] A pin may be inserted through the fulcrum 138 and a hole of the support bar 170.

[0204] The support bar 170 may be fixed to the support surface 164 at each end 132 and may span the length of the shared storage location 116 between ends 132.

[0205] Fig. 11 shows an example of transfer members the mobile robot 128 may use to transfer the shared container 118 between the mobile robot 128 and the shared storage location 116 in accordance with the present disclosure.

[0206] The mobile robots 128 may each include push members 152 that engage and move the shared container 118 from a respective mobile robot 128 to the shared storage location 116.

[0207] Each mobile robot 128 may include pull members 154 that engage and move the shared container 118 from the shared storage location 116 to a respective mobile robot 128.

[0208] The first and second mobile robots 128 described above each include one or more pull members 154 and / or one or more push members 152.

[0209] In Fig. 11, the mobile robot 128 includes two pull members 154 adjacent to the shared storage location 116, and two push members 152 opposite of the pull members 154.

[0210] The push members 152 and the pull members 154 are generally proximal and / or in line with the spaced supports 144.

[0211] The push members 152 and / or the pull members 154 may generally be in the form of flippers that engage corresponding catch surfaces 156 on the shared container 118.

[0212] The push members 152 and the pull members 154 may each be configured to push and pull a shared container 118 depending on the operation and on the direction of travel of the shared container 118.Atty. Docket No. 1127P017376-WO (PCT)

[0213] Further details relating to the general structure and operation of the push members, pull members, and container transfer mechanisms, such as may be used in conjunction with this disclosure, are disclosed in U.S. Patent No. 11,142,398, issued October 12, 2021, entitled “Order Fulfillment System”, which is incorporated herein by reference in its entirety. It should be understood that this mechanism is just one example of a container transfer mechanism and that other container transfer mechanisms may be used, such as but not limited to telescoping transfer arm(s).

[0214] In accordance with the present disclosure, Fig. 11 shows the pull members 154 of the mobile robot 128 engaging with the corresponding catch surfaces 156 of the shared container 118 during transfer out of the shared storage location 116 to the mobile robot 128. The shared container 118 is disposed upon two spaced supports 144 of the storage wall 114, and the mobile robot 128 is disposed in an aisle 106 so as to be aligned with the spaced supports 144. During transfer of the shared container 118 into / from the shared storage location 116, the shared container 118 is guided directly into / from the shared storage location 116 by the spaced supports 144.

[0215] While the transfer of the shared container 118 is described herein largely with respect to the storage wall 114, it should be understood that the inbound wall 150 and second storage wall 148 may be similarly configured so that transfer of containers to and from the inbound wall 150 and second storage wall 148 occurs in a manner similar to (or otherwise the same as) that described with respect to the storage wall 114.

[0216] Referring to Figs. 1-12, Fig. 12 shows a process 200 of shared storage of containers in accordance with the present disclosure. It is contemplated that the transfer of containers 116 to or from a shared storage wall 114 by mobile robots 128 is done as part of an ASRS at an order fulfillment facility 100. The process 200 may use some or all of the components described above, such as. for example, components of the storage wall system described above.

[0217] At block 202, a first array of storage locations 104 at a first storage wall 114 is directly accessed by mobile robots 128. and each storage location 104 is configured to receive a container 116.Atty. Docket No. 1127P017376-WO (PCT)

[0218] The first array of storage locations 104 is directly accessible to mobile robots 128 moving along a first aisle 120 disposed on a first side 122 of the first storage wall 144.

[0219] The first array of storage locations 104 is directly accessible to mobile robots 128 moving along a second aisle 124 disposed on a second side 126 of the first storage wall 114.

[0220] At block 204, a shared storage location 116 in the first storage wall 114 is directly accessible to mobile robots 128 in both the first aisle 120 and the second aisle 124.

[0221] The shared storage location 116 receives a deposit of a shared container 118 from a first mobile robot 128 from the first aisle 120. Following the deposit of the shared container 118, the shared storage location 116 enables retrieval of the shared container 118 by a second mobile robot 128 from the second aisle 124.

[0222] At block 206, a container blocker 130 at the shared storage location 116 blocks the deposited container 116 from overshooting the shared storage location 116 upon insertion of the container 116 into the shared storage location 116.

[0223] The container blocker 130 selectively blocks movement of the deposited container 116 either toward the second aisle 124, when deposited by the first mobile robot 128 from the first aisle 120, or toward the first aisle 120, when deposited by the second mobile robot 128 from the second aisle 124.

[0224] The container blocker 130 may include the platform 136 that is pivotable about the fulcrum 138 with a first stop portion 134A at a first end 132A of the platform 136, and a second stop portion 134B at a second end 132B of the platform 136 so as to block containers 116 being deposited from either aisle 120, 124.

[0225] Optionally, at block 208, the shared container 118 may be retrieved from the shared storage location 116 by a second mobile robot 128 from the second aisle 124.

[0226] It is generally contemplated that the process 200 may include the operations and actions described above in connection with the storage wall system.Atty. Docket No. 1127P017376-WO (PCT)

[0227] Referring to Figs. 13-15, as described herein, the system 112 may include the first storage wall 114.

[0228] The first storage wall 114 may include a first array of the storage locations 116, and each storage location is generally configured to receive and store a container 118.

[0229] The array of storage locations 116 may include multiple vertically spaced rows of storage locations 116.

[0230] There may be any suitable number of rows of storage locations 116 and any suitable number of storage locations 116 within the rows.

[0231] The system 112 may include the first aisle 120 (of the aisles 106) disposed on the first side 122 of the first storage wall 114.

[0232] The first array of storage locations 116 may be directly accessible to mobile robots (such as the mobile robots 128 shown in Figs. 5, 11, and 12) moving along the first aisle 120.

[0233] The first array of storage locations 116 of the first storage wall 114 includes a first storage location 116A.

[0234] As described herein, the system 112 includes the second storage wall 148.

[0235] The second storage wall 148 includes a second array of storage locations 116 with each storage location 116 being configured to receive a container 118.

[0236] The system 112 may include the second aisle 124 disposed on a second side 428 of the second storage wall 148.

[0237] The second array of storage locations 116 may be directly accessible to mobile robots 128 moving along the second aisle 124.

[0238] The second array of storage locations 116 of the second storage wall 148 includes a second storage location 116B.Atty. Docket No. 1127P017376-WO (PCT)

[0239] It is contemplated that the storage locations 116 are a type of storage location 104 described above.

[0240] Generally, the storage structure 102 includes any combination of first storage walls 114 and second storage walls 148 in any suitable number and configuration at the facility 100.

[0241] The system 112 may include a container transporter 430 disposed at and / or between the first storage location 116A and the second storage location 116B.

[0242] The container transporter 430 is configured to move containers 118 between the first storage location 116A and the second storage location 116B.

[0243] The storage structure 102 may include various combinations of first storage walls 114 and second storage walls 148 with or without container transporter(s) 430 disposed between them.

[0244] As addressed further below, including a container transporter 430 between a first storage wall 114 and a second storage wall 148 may one or more of allow for increased storage density and allow a container 118 to be accessible from both the first aisle 120 and the second aisle 124.

[0245] The storage locations 116 may optionally include spaced supports 144 (which may also be referred to as container supports, container guides, and / or support rails).

[0246] Two spaced supports 144 may engage a first side and a second side of the container 118.

[0247] The spaced supports 144 may be used to guide the container 118 into the storage location 116 and may define a width dimension of the storage location 116.

[0248] It is contemplated that these spaced supports 144 may be used in storage locations 116 that are not connected by a container transporter 430 (although, as shown in Figs. 13-15, they may be used in combination with a container transporter 430).

[0249] It is contemplated that there may be various combinations of storage locations 116 in the two storage walls 114, 148 that are connected by container transporters 430, which may depend on the desired storage density.Atty. Docket No. 1127P017376-WO (PCT)

[0250] The storage locations 116 may be accessible to mobile robots 128 on the first side 122 of the first storage wall 114 and / or the second side 428 of the second storage wall 148. The storage locations 116 in the first storage wall 114 may be indirectly accessible to mobile robots 128 in the second aisle 124 via a container transporter 430. Conversely, the storage locations 116 in the second storage wall 148 may be indirectly accessible to mobile robots 128 in the first aisle 120 via the container transporter 430.

[0251] The container transporter 430 may be used to transfer a container 118 from one storage wall 114 to the other storage wall 148 where a mobile robot 128 can then retrieve it. This feature may, for example, be used where there is only one container 118 at the two storage walls 114, 148 (and there are no intervening containers 118 stored between the two storage walls 114, 148). Alternatively, any intervening containers 118 may be removed and relocated by the accessing mobile robot 128 until it can access the container 118 being transferred from the other storage wall.

[0252] The containers 118 in the first storage wall 114 and / or the second storage wall 148 may be directly accessible from either the first aisle 120 and / or the second aisle 124, respectively.

[0253] Generally, the first storage wall 114 is accessible from the first aisle 120, and the second storage wall 148 is accessible from the second aisle 124. However, the inclusion of a container transporter 430 allows containers 118 in either the first storage wall 114 and / or the second storage wall 148 to additionally be accessible from the respective aisle 106 of the opposite storage wall 114, 148.

[0254] A plurality of container transporters 430 may connect a plurality of first storage locations 116A in the first storage wall 114 with a corresponding plurality of second storage locations 116B in the second storage wall 148.

[0255] Each storage location 116 of the first and / or second array of storage locations may be connected to a corresponding storage location 116 by a container transporter 430.Atty. Docket No. 1127P017376-WO (PCT)

[0256] One or more rows of storage locations 116 may include one or more container transporters 430 connecting the first storage wall 114 to the second storage wall 148.

[0257] As can be seen in Figs. 13-19, there are two levels of container transporters 430 at the bottom of the storage walls 114, 148, although other arrangements are possible. Any suitable configuration of container transporters 430 between storage locations 116 of the first storage wall 114 and storage locations 116 of the second storage wall 148 may be used.

[0258] It is generally contemplated that the container transporter 430 may include any of various suitable transport mechanisms. For example, the container transporter 430 may include any of various types of conveyors or combination of conveyor types. In some forms, the container transporter 430 preferably can transfer containers 118 in both directions, i.e., from the first storage wall 114 towards the second storage wall 148 and vice versa.

[0259] The container transporter 430 may include a belt conveyor and / or a plurality of rollers.

[0260] As shown in Figs. 13-20, the container transporter 430 may include a plurality of rollers 432.

[0261] As shown in Figs. 16 and 17, the rollers 432 may be disposed between a first end 434 of the first storage location 116A adjacent the first aisle 120 and a second end 436 of the second storage location 116B adjacent the second aisle 124.

[0262] The rollers 432 may include a subset of powered rollers (e.g., roller(s) driven by any suitable motor(s) and / or transmission(s)) configured to move a container 118 from the first storage location 116A to the second storage location 116B and / or from the second storage location 116B to the first storage location 116 A.

[0263] There maybe one powered roller for each storage location 116A, 116B, 116C, 116D with the remainder of the rollers 432 being non-powered (or manual, free spinning) rollers.

[0264] There may be any suitable combination of powered and / or non-powered rollers 432 in the container transporter 430.Atty. Docket No. 1127P017376-WO (PCT)

[0265] It is generally contemplated that the container transporter 430 may be configured in various ways with respect to the first and second storage locations 116A, 116B.

[0266] As shown in Figs. 16 and 17, the container transporter(s) 430 may extend the entire length from the first aisle to the second aisle, including the entire length of the first and second storage locations 116A, 116B.

[0267] The container transporter 430 may span only part of the first storage location 116A and / or the second storage location 116B (or may not span either storage location at all).

[0268] The one or both storage locations 116 A, 116B may include and / or be integrated with rollers 432 and / or alternate conveyor mechanisms in order to transfer a container 118 between the storage location 116A, 116B and the container transporter 430.

[0269] As shown in Figs. 13-15, the container transporter 430 may be configured to support one or more containers 118 at one or more intermediate locations between the first storage location 116A and the second storage location 116B.

[0270] As can be seen in Figs. 13-15, there are two intermediate locations 116C, 116D, although a different number of intermediate locations is also possible.

[0271] The container transporter 430 may be configured to transport a container 118 from an intermediate location to the first storage location 116A and / or to the second storage location 116B. Here, there is at least one intermediate location between the first storage location 116A and the second storage location 116B.

[0272] As shown in Figs. 18 and 19, a container transporter 430 may be relatively wide to allow transport between multiple pairs of storage locations.

[0273] As shown in Figs. 18 and 19. there may be a third storage location 116E adjacent the first storage location 116A in the first storage wall 114, and there may be a fourth storage location 116F adjacent the second storage location 116B in the second storage wall 148. The container transporter 430 may be disposed at and / or between the first storage location 116A and the third storageAtty. Docket No. 1127P017376-WO (PCT)location 116E at the first end 434 and / or between the second storage location 116B and the fourth storage location 116F at the second end 436. Here, the container transporter 430 may be the width of two or more storage locations.

[0274] There may be any number of storage locations 116 between the first storage wall 114 and the second storage wall 148.

[0275] The container transporter 430 may define a predetermined number of storage locations 116 extending from the first storage location 116A at the first end 434 to the second storage location 116B at the second end 436.

[0276] Figs. 18 and 19 show the system 112, as a non-limiting example, with three containers 118 disposed intermediate the first storage location 116A and the second storage location 116B, although any suitable number of containers 118 may be disposed intermediate the first storage location 116A and the second storage location 116B.

[0277] The distance between the first storage location 116A and the second storage location 116B may be selected so that containers 118 at the intermediate locations are either tightly or loosely packed together. Any alternate suitable number and configuration of intermediate locations may be used.

[0278] Fig. 20 shows the system 112 without any full intermediate locations between the first storage location 116A and the second storage location 116B.

[0279] The distance between the first storage location 116A and the second storage location 116B may be less than a depth dimension of either the first storage wall 114 or the second storage wall 148. It is generally contemplated that the depth is generally measured in the direction of movement of the container transporter 430.

[0280] The container transporter 430 may be configured to directly move containers 118 between the first storage location 116A and / or the second storage location 116B without an intermediate storage location. The distance between the first storage wall 114 and the second storage wall 148Atty. Docket No. 1127P017376-WO (PCT)may not large enough to store a container 118, and instead, facilitates uninterrupted transfer of containers 118, by the container transporter 430, between the two storage walls 114, 148.

[0281] It is generally contemplated that the intermediate locations between the first storage location 116A of the first storage wall 114 and the second storage location 116B of the second storage wall 148 may function as additional storage locations 116 within the order fulfillment facility 100.

[0282] Each of the first storage location 116A, the second storage location 116B, and intermediate storage locations 116C, 116D may contain a container 118. In the described form, the container 118 in the first storage location 116A may be directly accessible from the first aisle 120 and the container 118 in the second storage location 116B may be directly accessible from the second aisle 124.

[0283] The containers 118 in one or both of intermediate storage locations 116C, 116D may not be directly accessible from either aisle 120, 124. In other words, in some forms, the containers 118 between the first storage location 116A and the second storage location 116B may be less frequently used, less likely to be retrieved at the ASRS, and / or primarily intended for longer-term storage.

[0284] There may be a container 118 in a storage location 116 blocking movement of a container 118 desired to be removed from the storage wall 114, 148. With the possible assistance of the container transporter 430, a mobile robot 128 may remove and relocate one or more containers 118 that may be in the way of the container 118 desired to be removed.

[0285] The mobile robot 128 may temporarily remove and relocate the container(s) 118 until replaced back in their original storage location(s) 116.

[0286] The mobile robot 128 may permanently remove and relocate container(s) 118 to new storage location(s) 116 within the storage structure 102.Atty. Docket No. 1127P017376-WO (PCT)

[0287] Fig. 11 shows an example of a container transfer mechanism the mobile robot 128 may use to transfer a container 118 into a storage location 116 in accordance with the present disclosure, although the mobile robot 128 may include any suitable container transfer mechanism including, but not limited to, telescoping arm(s), conveyors, lifts, hooks, pushers / pullers, extendable end effectors, etc.

[0288] The mobile robots 128 may each include push members 142 that engage and move the container 118 from a respective mobile robot 128 to the storage location 116.

[0289] Each mobile robot 128 may include pull members 144 that engage and move the container 118 from the storage location 116 to a respective mobile robot 128.

[0290] The mobile robots 128 described above may each include one or more pull members 144 and / or one or more push members 142.

[0291] In the embodiment of Fig. 11, the mobile robot 128 may include two pull members 144 adjacent to the storage location 116, and two push members 142 opposite of the pull members 144. Here, the push members 142 and the pull members 144 may be generally proximal and / or in line with the spaced supports 144, although the spaced supports 144 need not be used.

[0292] The push members 142 and / or the pull members 144 may be in the form of flippers that engage corresponding catch surfaces 156 on the container 118.

[0293] The push members 142 and the pull members 144 may each be configured to push and pull a container 118 depending on the operation and on the direction of travel of the container 118.

[0294] Further details relating to the general structure and operation of embodiments of push members, pull members, and container transfer mechanisms, such as may be used in conjunction with this disclosure, are disclosed in U.S. Patent No. 11,142,398, issued October 12, 2021, entitled “Order Fulfillment System”, which is incorporated herein by reference in its entirety. It should be understood that this mechanism is just one example of a container transfer mechanism and that other container transfer mechanisms may be used.Atty. Docket No. 1127P017376-WO (PCT)

[0295] Fig. 21 shows a process 300 of storage and transport of containers in accordance with the present disclosure. It is contemplated that the storage and transport of containers between storage walls may involve an ASRS at an order fulfillment facility. The process 300 may use some or all of the components described above, such as, for example, one or more components of the system 112 for storage and transport of containers described above.

[0296] At block 302, containers 118 are received in storage locations in a first storage wall 114 including a first array of storage locations 116.

[0297] It is generally contemplated that a first aisle 120 (of the aisles 106) is disposed on a first side 122 of the first storage wall 114, and the first array of storage locations 116 is directly accessible by mobile robots 128 moving along the first aisle 120. A first storage location 116A is disposed in the first storage wall 114.

[0298] At block 304, containers 118 are received in a storage location in a second storage wall 148 including a second array of storage locations 116.

[0299] It is generally contemplated that a second aisle 124 is disposed on a second side 428 of the second storage wall 148, and the second array of storage locations 116 is directly accessible by mobile robots 128 moving along the second aisle 124. A second storage location 116B is disposed in the second storage wall 148.

[0300] At block 306, containers 118 are moved between the first storage location 116A and the second storage location 116B by a container transporter 430 disposed at or between the first storage location 116A and the second storage location 116B.

[0301] The container transporter may include a belt conveyor and / or a plurality of rollers 432. Where the container transport includes rollers 432, the rollers may be disposed between an end of the first storage location 116A adjacent the first aisle 120 and an end of the second storage location 116B adjacent the second aisle 124.Atty. Docket No. 1127P017376-WO (PCT)

[0302] Optionally, at block 308, the container transporter 430 may support and store one or more containers 118 at one or more intermediate locations 116C, 116D (which two intermediate locations are noted here, there may be more than two intermediate locations) between the first storage location 116A and the second storage location 116B.

[0303] The container transporter 430 defines a predetermined number of storage locations extending from the first storage location 116A at the first end to the second storage location 116B at the second end. It is generally contemplated that the number of containers stored in the intermediate storage locations may be adjusted to accommodate a desired storage density.

[0304] Optionally, at block 310, the process 300 may include, by the container transporter 430, transporting a container 118 from an intermediate location 116C, 116D to either the first storage location 116A or the second storage location 116B.

[0305] Optionally, at block 312, the container transporter 430 may be operated by powered rollers.

[0306] The container transporter 430 may include a combination of powered and non-powered (or manual) rollers.

[0307] Each predefined storage location may include at least one powered roller.

[0002] It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the present disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances that fall within the scope of any claims appended hereto. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the present disclosure.

[0308] What is claimed is:

Claims

Atty. Docket No. 1127P017376-WO (PCT)CLAIMS1. A system for shared storage of containers, the system comprising:a first storage wall comprising a first array of storage locations, each storage location configured to receive a container;a first aisle disposed on a first side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the first aisle;a second aisle disposed on a second side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the second aisle;a shared storage location in the first storage wall, the shared storage location being directly accessible to mobile robots in both the first aisle and the second aisle such that the shared storage location is accessible to receive a deposit of a shared container from a first mobile robot from the first aisle and, following the deposit, the shared storage location is accessible to enable retrieval of the shared container by a second mobile robot from the second aisle; anda container blocker at the shared storage location, the container blocker comprising two ends with a stop at each end, the container blocker configured to selectively block movement of a deposited container either toward the second aisle, when deposited by the first mobile robot from the first aisle, or toward the first aisle, when deposited by the second mobile robot from the second aisle.

2. The system of claim 1, wherein the container blocker comprises:a platform pivotable about a fulcrum, the fulcrum intermediate a first end of the platform and a second end of the platform;a first stop portion at the first end of the platform; anda second stop portion at the second end of the platform.

3. The system of claim 2, wherein the container blocker is configured to:Atty. Docket No. 1127P017376-WO (PCT)occupy an initial position not blocking either the first aisle or the second aisle;receive a first force at the first end during transfer of the shared container to the shared storage location from the first mobile robot; andpivot about the fulcrum in response to the first force to cause the second stop portion to move from the initial position to a blocking position to block the shared container from moving past the second end toward the second aisle.

4. The system of claim 3, wherein the container blocker is configured to pivot about the fulcrum to return to the initial position after the shared container is received in the shared storage location.

5. The system of claim 4, wherein, following retrieval of the shared container from the shared storage location, the container blocker is configured to:occupy the initial position not blocking either the first aisle or the second aisle;receive a second force at the second end during transfer of a new shared container to the shared storage location from the second mobile robot; andpivot about the fulcrum in response to the second force to cause the first stop portion to move from the initial position to a blocking position to block the new shared container from moving past the first end toward the first aisle.

6. The system of claim 2, wherein:the shared storage location comprises two spaced supports to each engage a first side and a second side of the shared container; andthe container blocker being disposed intermediate the two spaced supports.

7. The system of claim 1, wherein the first and second mobile robots each comprise:Atty. Docket No. 1127P017376-WO (PCT)one or more push members engaging and moving the shared container from a respective one of the first and second mobile robots to the shared storage location; andone or more pull members engaging and moving the shared container from the shared storage location to a respective one of the first and second mobile robots.

8. The system of claim 7, wherein the one or more push members and / or the one or more pull members comprise flippers that engage corresponding catch surfaces on the shared container.

9. The system of claim 1, further comprising:a second storage wall on a side of the second aisle opposite the first storage wall, the second storage wall comprising a second array of storage locations configured to receive containers, the second mobile robot transferring the shared container from the shared storage location in the first storage wall to a new shared storage location in the second storage wall.

10. The system of claim 1 , further comprising:an inbound wall on an inbound side of the first aisle opposite the first storage wall, the inbound wall comprising an array of inbound locations configured to introduce containers and make containers accessible to the first aisle, the first mobile robot receiving the shared container from the inbound wall following deposit of the shared container at the inbound wall.

11. A method for shared storage of containers, the method comprising:by mobile robots, directly accessing a first array of storage locations at a first storage wall, each storage location configured to receive a container, the first array of storage locations being directly accessible to mobile robots moving along a first aisle disposed on a first side of the first storage wall, and the first array of storage locations being directly accessible to mobile robots moving along a second aisle disposed on a second side of the first storage wall;at a shared storage location in the first storage wall, the shared storage location being directly accessible to mobile robots in both the first aisle and the second aisle, receiving a deposit of aAtty. Docket No. 1127P017376-WO (PCT)shared container from a first mobile robot from the first aisle and, following the deposit, enabling retrieval of the shared container by a second mobile robot from the second aisle; andby a container blocker at the shared storage location, selectively blocking movement of a deposited container either toward the second aisle, when deposited by the first mobile robot from the first aisle, or toward the first aisle, when deposited by the second mobile robot from the second aisle.

12. The method of claim 11, wherein the container blocker comprises:a platform pivotable about a fulcrum, the fulcrum intermediate a first end of the platform and a second end of the platform;a first stop portion at the first end of the platform; anda second stop portion at the second end of the platform.

13. The method of claim 12, further comprising, by the container blocker:occupying an initial position not blocking either the first aisle or the second aisle;receiving a first force at the first end during transfer of the shared container to the shared storage location from the first mobile robot; andpivoting about the fulcrum in response to the first force to cause the second stop portion to move from the initial position to a blocking position to block the shared container from moving past the second end toward the second aisle.

14. The method of claim 13, further comprising, by the container blocker:pivoting about the fulcrum to return to the initial position after the shared container is received in the shared storage location.

15. The method of claim 14, further comprising:retrieving the shared container from the shared storage location; andAtty. Docket No. 1127P017376-WO (PCT)by the container blocker:occupying the initial position not blocking either the first aisle or the second aisle;receiving a second force at the second end during transfer of a new shared container to the shared storage location from the second mobile robot; andpivoting about the fulcrum in response to the second force to cause the first stop portion to move from the initial position to a blocking position to block the new shared container from moving past the first end toward the first aisle.

16. The method of claim 12, wherein:the shared storage location comprises two spaced supports to each engage a first side and a second side of the shared container; andthe container blocker being disposed intermediate the two spaced supports.

17. The method of claim 11, further comprising:by one or more push members of the first and second mobile robots, engaging and moving the shared container from a respective one of the first and second mobile robots to the shared storage location; andby one or more pull members of the first and second mobile robots, engaging and moving the shared container from the shared storage location to a respective one of the first and second mobile robots.

18. The method of claim 17, wherein the one or more push members and / or the one or more pull members comprise flippers that engage corresponding catch surfaces on the shared container.

19. The method of claim 11, further comprising, by the second mobile robot:Atty. Docket No. 1127P017376-WO (PCT)transferring the shared container from the shared storage location in the first storage wall to a new shared storage location in a second storage wall on a side of the second aisle opposite the first storage wall, the second storage wall comprising a second array of storage locations configured to receive containers.

20. The method of claim 11, further comprising, by the first mobile robot:receiving the shared container from an inbound wall on an inbound side of the first aisle opposite the first storage wall following deposit of the shared container at the inbound wall, the inbound wall comprising an array of inbound locations configured to introduce containers and make containers accessible to the first aisle.

21. A system for storage and transport of containers, the system comprising:a first storage wall comprising a first array of storage locations, each storage location configured to receive a container;a first aisle disposed on a first side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the first aisle;a first storage location in the first storage wall;a second storage wall comprising a second array of storage locations, each storage location configured to receive a container;a second aisle disposed on a second side of the second storage wall, the second array of storage locations being directly accessible to mobile robots moving along the second aisle;a second storage location in the second storage wall; anda container transporter disposed at and / or between the first storage location and the second storage location, the container transporter operating to move containers between the first storage location and the second storage location.Atty. Docket No. 1127P017376-WO (PCT)22. The system of claim 21, wherein the container transporter comprises a belt conveyor or a plurality of rollers.

23. The system of claim 21, wherein the container transporter is configured to support and store one or more containers at one or more intermediate locations between the first storage location and the second storage location.

24. The system of claim 23, wherein the container transporter is configured to transport a container at an intermediate location to the first storage location or the second storage location.

25. The system of claim 21, wherein:a distance between the first storage location and the second storage location is less than a depth dimension of either the first storage location or the second storage location; andthe container transporter operating to directly move containers between the first and second storage locations without an intermediate storage location.

26. The system of claim 21, further comprising:a plurality of container transporters connecting a plurality of first storage locations in the first storage wall with a corresponding plurality of second storage locations in the second storage wall.

27. The system of claim 21, further comprising:a third storage location adjacent the first storage location in the first storage wall; anda fourth storage location adjacent the second storage location in the second storage wall;wherein the container transporter is disposed at and / or between the first and third storage locations at a first end and the second and fourth storage locations at a second end.

28. The system of claim 21, wherein:Atty. Docket No. 1127P017376-WO (PCT)the container transporter comprises a plurality of rollers, the plurality of rollers being disposed between an end of the first storage location adjacent the first aisle and an end of the second storage location adjacent the second aisle.

29. The system of claim 21, wherein:the container transporter defines a predetermined number of storage locations extending from the first storage location at a first end to the second storage location at a second end.

30. The system of claim 29, further comprising:a plurality of rollers comprising a subset of powered rollers, each of the predetermined number of storage locations including at least one powered roller.

31. A method for storage and transport of containers, the method comprising:receiving containers in storage locations in a first storage wall comprising a first array of storage locations, a first aisle disposed on a first side of the first storage wall, the first array of storage locations being directly accessible to mobile robots moving along the first aisle, a first storage location being disposed in the first storage wall;receiving containers in storage locations in a second storage wall comprising a second array of storage locations, a second aisle disposed on a second side of the second storage wall, the second array of storage locations being directly accessible to mobile robots moving along the second aisle, a second storage location being disposed in the second storage wall; andby a container transporter disposed at and / or between the first storage location and the second storage location, moving containers between the first storage location and the second storage location.

32. The method of claim 31, wherein the container transporter comprises a belt conveyor or a plurality of rollers.

33. The method of claim 31, further comprising, by the container transporter:Atty. Docket No. 1127P017376-WO (PCT)supporting and storing one or more containers at one or more intermediate locations between the first storage location and the second storage location.

34. The method of claim 33, further comprising, by the container transporter:transporting a container at an intermediate location to the first storage location or the second storage location.

35. The method of claim 31, wherein a distance between the first storage location and the second storage location is less than a depth dimension of either the first storage location or the second storage location, the method further comprising, by the container transporter:operating to directly move containers between the first and second storage locations without an intermediate storage location.

36. The method of claim 31, further comprising:by a plurality of container transporters, connecting a plurality of first storage locations in the first storage wall with a corresponding plurality of second storage locations in the second storage wall.

37. The method of claim 31, further comprising:a third storage location adjacent the first storage location in the first storage wall; anda fourth storage location adjacent the second storage location in the second storage wall;wherein the container transporter is disposed at and / or between the first and third storage locations at a first end and the second and fourth storage locations at a second end.

38. The method of claim 31, wherein:the container transporter comprises a plurality of rollers, the plurality of rollers being disposed between an end of the first storage location adjacent the first aisle and an end of the second storage location adjacent the second aisle.Atty. Docket No. 1127P017376-WO (PCT)39. The method of claim 31, wherein:the container transporter defines a predetermined number of storage locations extending from the first storage location at a first end to the second storage location at a second end.

40. The method of claim 39, further comprising:a plurality of rollers comprising a subset of powered rollers, each of the predetermined number of storage locations including at least one powered roller.

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