Abstract:
An automated storage and retrieval system wherein electrically driven, computer-controlled carriages ( 58 ) can navigate a system of rails ( 78 ) in three-dimensions. Multiple carriages ( 58 ) can independently operate at the same time to accomplish a task faster or to work on several different tasks at the same time. The rails ( 78 ) have a system of trap doors ( 95 ) that allow a carriage ( 58 ) to use a single reversible motor ( 67 ) to navigate the rails ( 78 ) in three-dimensions. With the carriage ( 58 ) in positioned in font of a bin position, the carriage mounted manipulating device ( 125 ) can move bins ( 115 ) to and from the racks ( 107 ) from either side with a single reversible motor ( 131 ). The rails ( 78 ) are electrified to provide power for the drive ( 67 ) and manipulator motors ( 131 ). A main computer ( 146 ) maintains the inventory, handles transactions and assigns tasks to the computer-controlled carriages ( 58 ). The system can be scaled to handle different types of items and can be configured to fit in the space available.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
   Not Applicable 
   FEDERALLY SPONSORED RESEARCH 
   Not Applicable 
   SEQUENCE LISTING OR PROGRAM 
   Not Applicable 
   BACKGROUND OF THE INVENTION 
   1. Field of Invention 
   This invention relates to item storage and distribution, specifically the automated stocking, storing and delivery of items to be sold, rented, checked out, transported or stored. 
   2. Background of the Invention 
   For years, there have been attempts to develop a practical automated storage and delivery systems for items to be sold, rented, checked out, transported or stored. The primary objectives are to make it more convenient for the user, more flexible, more reliable and less expensive to build and maintain. Most of the attempts at an automated store use a setup where identical items are placed in an ejection unit that dispenses the item on demand. U.S. Pat. No. 3,647,026 (1972) to Alexander et al and discloses an automated drive-in store using chutes, dispensers and ejectors. In general, currently known automated distribution facilities are primarily constructed with conveyors designed to move a bin up and down a line of item dispensers. When the bin is under the dispenser, the item is dumped into the bin or onto a conveyor by an actuator system. This requires an intricate one-of-a-kind arrangement of conveyors, chutes, elevators, actuators, sensors and stepper motors. Examples of these devices can be found in U.S. Pat. Nos. 5,595,263 (1997) to Pignataro, 6,234,737 (2001) to Young et al., and 5,890,136 (1999) to Kipp. Another group of patents has the item in bins that are manipulated by devices that operate in an x- and y-plane. Examples of these devices are found in U.S. Pat. Nos. 5,139,384 (1992) Tuttobene, and 6,022,180 (2000) to Motoyama et al. The shortcoming of these devices are that they are expensive to build and maintain, prone to malfunction and mistakes, handle one task at a time, operate slowly, can not make full use of existing storage space, items can be damaged by the drop into a bin or ripped apart by the conveyor. When stocking such a facility, the person stocking the facility is exposed to the hazards of moving machinery and is close proximity to the item, which allows for pilfering. 
   While each of the above-noted patents describe vending facilities which provide a certain degree of automated shopping for a customer, a need still exists for a mechanism which provides a more efficient and automated system. 
   OBJECTS AND ADVANTAGES 
   Several objects and advantages of the present invention are: 
   
       
       
         
           (a) to provide a plurality of electrically driven, computer-controlled carriage (EDC3) that can navigate a system of rails in three-dimensions; 
           (b) to provide a plurality of three-dimensional system of electrified rails that will support, guide and provide power to the EDC3; 
           (c) to provide a bin handling device attached to the EDC3 that can manipulate the bin from the EDC3 to the rack, and from the rack to the EDC3; 
           (d) to provide a plurality of bins that can be picked up and dropped off by the EDC3, the bins will be encoded to facilitate the EDC3 identifying the bin, the bin will serve as a holding device for an item or a plurality of items; 
           (e) to provide a plurality of racks to support the bins so that the bins can be accessed by the EDC3; 
           (f) to provide a system that will control the EDC3s so that several EDC3s can work to accomplish the same task simultaneously; 
           (g) to provide a system that will control the EDC3s so that several different tasks can be carried out congruently; 
           (h) to provide a system that will control the EDC3s so that some EDC3s can be storing items while other EDC3s are delivering items; 
           (i) to provide an EDC3 that only needs one reversible motor to navigate the matrix and one reversible motor to store and deliver items; 
           (l) to provide an EDC3 and rail system that is built of mostly stock parts, that can be put together in modular form; 
           (k) to provide a system design that does not need the precision of high cost stepper motors, servos, elevators, conveyors, transfer platforms, robotic arms, chutes, turntables, nor rail switchers; 
           (l) to provide the capacity of storing hundreds of varieties of items 
           (m) to provide the capacity of storing as few as one unit of any type of item 
           (n) to provide a setup where a customer can pick up his order from the comfort of his vehicle; 
           (o) to provide digital photo recording device that record each transaction digitally; 
           (p) to provide a setup where the bins can be loaded with items away from the dangers of moving parts and item loading can be accomplished with a minimum of errors and pilfering. 
         
       
     
  
   Further objects and advantages are to provide an ordering system that will be readily accessible to the customer and will handle monetary transactions. Still further objects and advantages will become apparent from a consideration of the ensuing description and drawings. 
   SUMMARY OF INVENTION 
   In accordance with the present invention, an electrically driven, computer-controlled carriage (EDC3) navigates on rails and can upon demand position itself to identify and manipulate a bin in order to deliver items to be sold, rented, checked out, transported or stored. 

   
     DRAWINGS 
     Figures 
       FIG. 1  shows a perspective view of an automated 3-dimensional, multitasking stocking, storage and distribution system (A3DMSSDS) for retailing items to a customer located in a vehicle, with a cut-away view of the insides of the storage facility. 
       FIG. 2  shows a perspective view of the A3DMSSDS drive-in facility with the doors of the storage facility open to allow access to the storage facility. 
       FIG. 3  shows a perspective view of the A3DMSSDS storage area with the enclosure removed. 
       FIG. 4A  shows a perspective view of EDC3 without the bin manipulator. 
       FIG. 4B  shows an arrangement of the gears, axels and toothed rotational devices of the EDC3. 
       FIG. 5  shows a perspective-exploded view of EDC3 with bin manipulator and bin. 
       FIG. 6  shows a perspective view of an assembled EDC3 with bin manipulator. 
       FIG. 7  shows a perspective view of horizontal rails with EDC3s attached. 
       FIG. 7A  is an inset that shows a perspective cutaway view of horizontal rails. 
       FIG. 8A  shows an elevation view of horizontal rails with speed changing track. 
       FIG. 8B  shows a head on view of toothed rotational device and wheel combination. 
       FIG. 9  shows a perspective view of horizontal and vertical rails with EDC3s attached. 
       FIG. 9A  is an inset that shows a perspective view of a trapdoor. 
       FIG. 10  shows a perspective view of an EDC3&#39;s transition intersection. 
       FIG. 11  is an elevation cutaway view of the customer stall delivery system. 
       FIG. 12  shows a perspective view of cantilever shelves with one bin. 
       FIG. 13A  shows a perspective view of a bin. 
       FIG. 13B  shows a perspective view of a bin rotated 90 degrees. 
       FIGS. 14A to 14G  show elevation views of the steps of the trapdoor&#39;s operation. 
       FIG. 15A  shows an EDC3 positioned on the horizontal rails passing over the trapdoor. 
       FIG. 15B  shows an EDC3 positioned on the horizontal rails entering the trapdoor. 
       FIG. 15C  shows an EDC3 positioned on the vertical rails. 
       FIG. 15D  shows an EDC3 stopped on the vertical rails. 
       FIG. 16  shows an EDC3 traveling in the x-direction, an EDC3 lowering on short vertical rails, an EDC3 traveling in the z-direction, and an EDC3 positioned on the vertical rails. 
       FIG. 17A  shows perspective view of a bin manipulating device with enclosure removed holding a bin in the carrying position. 
       FIG. 17B  shows perspective view of a bin manipulating device with enclosure removed, moving a bin from the carrying position to the shelf. 
       FIG. 17C  shows perspective view of a bin manipulating device with enclosure removed moving a bin from the carrying position to the shelf. 
       FIG. 17D  shows perspective view of a bin manipulating device with enclosure removed moving a bin from the carrying position to the shelf. 
       FIG. 17E  shows perspective view of a bin manipulating device with enclosure removed pushing a bin onto the shelf. 
       FIG. 17F  shows perspective view of a bin manipulating device with enclosure removed with bin arms in the lowered position and the bin positioned on the shelf. 
       FIG. 18  is a block diagram of the A3DMSSDS operation. 
       FIG. 19A  shows perspective view of alternative embodiment of the bin manipulating device with claws or hooks. 
       FIG. 19B  shows perspective view of the alternative embodiment of the bin manipulating device with claws or hooks stacking bins. 
       FIG. 20  shows perspective view of the alternative embodiment of the EDC3. 
       FIG. 21A  shows an elevation view of alternative embodiment of the trapdoor with the toothed rotational device approaching the trapdoor. 
       FIG. 21B  shows an elevation view of alternative embodiment of the trapdoor with the toothed rotational device moving under the trapdoor. 
       FIG. 21C  shows an elevation view of alternative embodiment of the trapdoor with the toothed rotational device reversing after passing under the trapdoor. 
       FIG. 21D  shows an elevation view of alternative embodiment of the trapdoor with the toothed rotational device climbing up the trapdoor. 
       FIG. 21E  shows an elevation view of alternative embodiment of the trapdoor with the toothed rotational device engaging the vertical rail. 
       FIG. 22  shows an elevation view of alternative embodiment of the trapdoor combined with the preferred embodiment of the trap door. 
       FIG. 23  shows an overhead view of additional embodiment of the A3DMSSDS being used in an airport. 
       FIG. 24  shows an elevation view of additional embodiment of the A3DMSSDS being used in a hospital. 
       FIG. 25  shows a perspective view of additional embodiment of the A3DMSSDS being used in a restaurant. 
       FIG. 26  shows a perspective view of additional embodiment of the A3DMSSDS being used in a parking garage. 
   

   DRAWINGS 
   Reference Numerals 
   
     
       
             
             
             
           
         
             
                 
                 
             
           
           
             
                 
                40 
               A3DMSSD Facility 
             
             
                 
                42 
               enclosure 
             
             
                 
                43 
               storage area 
             
             
                 
                46 
               delivery access panel 
             
             
                 
                47 
               customer interface device 
             
             
                 
                48 
               delivery door 
             
             
                 
                49 
               stalls 
             
             
                 
                50 
               customer vehicle 
             
             
                 
                50B 
               parked vehicle 
             
             
                 
                51 
               outer door 
             
             
                 
                52 
               inner door 
             
             
                 
                53 
               door interlock 
             
             
                 
                54 
               imaging device 
             
             
                 
                56 
               transport apparatus 
             
             
                 
                58 
               Electrically Driven Computer-controlled 
             
             
                 
                 
               Carriage (EDC3) 
             
             
                 
                59 
               smart server 
             
             
                 
                60 
               carriage frame 
             
             
                 
                61 
               A-B rail guide 
             
             
                 
                62 
               drive axel 
             
             
                 
                63 
               drive axel insulator 
             
             
                 
                64 
               drive bevel gear 
             
             
                 
                65 
               drive brake 
             
             
                 
                66 
               drive mechanical linkage 
             
             
                 
                67 
               drive motor 
             
             
                 
                68 
               x-direction drive toothed rotational 
             
             
                 
                 
               device 
             
             
                 
                69 
               z-direction drive toothed rotational 
             
             
                 
                 
               device 
             
             
                 
                70 
               big drive gear 
             
             
                 
                71 
               small drive gear 
             
             
                 
                75 
               A-B curve up rail 
             
             
                 
                76 
               ratcheting rail 
             
             
                 
                77 
               drive wheel 
             
             
                 
                78 
               rail system 
             
             
                 
                79 
               horizontal rails 
             
             
                 
                80 
               vertical rails 
             
             
                 
                81 
               transition intersections 
             
             
                 
                82 
               rack rail 
             
             
                 
                83 
               sending rails 
             
             
                 
                84 
               delivering rails 
             
             
                 
                85 
               returning rails 
             
             
                 
                86 
               sending rails bend 
             
             
                 
                87 
               returning rails bend 
             
             
                 
                88 
               short vertical rails 
             
             
                 
                89 
               interlocking device 
             
             
                 
                90 
               horizontal rails running 
             
             
                 
                 
               perpendicular 
             
             
                 
                91 
               upper horizontal rails 
             
             
                 
                94 
               hatch door 
             
             
                 
                95 
               trapdoor 
             
             
                 
                96 
               trapdoor torsion device 
             
             
                 
                96B 
               hatch door torsion device 
             
             
                 
                98 
               stop 
             
             
                 
                99 
               small gap 
             
             
                 
               100 
               large gap 
             
             
                 
               101 
               trapdoor hinge device 
             
             
                 
               101B 
               hatch door hinge device 
             
             
                 
               107 
               bin rack 
             
             
                 
               108 
               vertical rack support structure 
             
             
                 
               109 
               horizontal support surface 
             
             
                 
               115 
               bin 
             
             
                 
               115B 
               bin for vehicle 
             
             
                 
               116 
               bin lip 
             
             
                 
               117 
               A-B bin grip 
             
             
                 
               118 
               stackable bin 
             
             
                 
               119 
               stackable bin lip 
             
             
                 
               125 
               Carriage Mounted Bin 
             
             
                 
                 
               Manipulator (CMBM) 
             
             
                 
               126 
               CMBM frame 
             
             
                 
               127 
               A-B manipulator arm 
             
             
                 
               128 
               manipulator mechanical linkage 
             
             
                 
               129 
               manipulator arm chain 
             
             
                 
               130 
               manipulator arm sprocket 
             
             
                 
               131 
               manipulator motor 
             
             
                 
               132 
               manipulator brake 
             
             
                 
               134 
               bin hook 
             
             
                 
               140 
               equipment controller system. 
             
             
                 
               141 
               barcode 
             
             
                 
               142 
               component platform 
             
             
                 
               143 
               EDC3 digital imaging device 
             
             
                 
               144 
               Delivery digital imaging device 
             
             
                 
               145 
               Stocking digital imaging device 
             
             
                 
               146 
               Main Computer 
             
             
                 
               147 
               manipulator position indicator 
             
             
                 
               148 
               position sensor 
             
             
                 
               149 
               positioning indicator 
             
             
                 
               150 
               relay block 
             
             
                 
               151 
               Drive rotation sensor 
             
             
                 
               152 
               Barcode scanner 
             
             
                 
               153 
               mobile electromagnetic signal 
             
             
                 
                 
               transceiver 
             
             
                 
               154 
               Stationary electromagnetic signal 
             
             
                 
                 
               transceiver 
             
             
                 
               155 
               mobile control device 
             
             
                 
               156 
               manipulator position sensor 
             
             
                 
               157 
               data base 
             
             
                 
               158 
               remote override 
             
             
                 
               160 
               vendor access panel 
             
             
                 
               161 
               vendor vehicle 
             
             
                 
               162 
               A-B loading panel doors 
             
             
                 
               200 
               alternate ECD3 
             
             
                 
               201 
               alternate ECD3 drive motor 
             
             
                 
               202 
               drive chain 
             
             
                 
               301 
               barcode product ID 
             
             
                 
               302 
               barcode bin ID 
             
             
                 
               303 
               barcode rack ID 
             
             
                 
               400 
               airport 
             
             
                 
               401 
               parking lot 
             
             
                 
               402 
               passenger car 
             
             
                 
               403 
               passenger access point 
             
             
                 
               404 
               security and screening 
             
             
                 
               405 
               terminal 
             
             
                 
               406 
               jet bridge 
             
             
                 
               407 
               airplane 
             
             
                 
               500 
               hospital 
             
             
                 
               501 
               patient room 
             
             
                 
               502 
               intensive care unit 
             
             
                 
               503 
               exam room 
             
             
                 
               504 
               operating room 
             
             
                 
               505 
               x-ray room 
             
             
                 
               506 
               emergency room 
             
             
                 
               507 
               kitchen 
             
             
                 
               508 
               storage room 
             
             
                 
               509 
               pharmacy 
             
             
                 
               510 
               laboratory 
             
             
                 
               511 
               trash and medical waste center 
             
             
                 
               512 
               restaurant table 
             
             
                 
               513 
               kitchen processing area 
             
             
                 
               514 
               smart server 
             
             
                 
                 
             
           
        
       
     
   
   DETAIL DESCRIPTION 
   Preferred Embodiment 
   FIGS.  1  to  13   
     FIG. 1  illustrates the preferred embodiment of the invention in the form of an automated 3-dimensional, multitasking stocking, storage and Distribution system (A3DMSSDS)  40 . This system could be constructed to stand alone; or be built in conjunction with or retrofitted to existing facilities. The A3DMSSD  40  system is encased in an enclosure  42 . The enclosure  42  is constructed of standard building materials to provide structure, protection, security and aesthetics. The enclosure  42  frames a plurality of customer stalls  49 , the customer stalls  49  each have a delivery access panel  46 . The delivery access panel  46  contains a customer interface device  47 , and a plurality of delivery doors  48 . A cut away view of the enclosure  42  exposes a storage area  43 . A delivery vehicle  161  is shown backed up to the A3DMSSD  40 . A customer vehicle  50  is shown parked in each of the stalls  49 . 
     FIG. 2  shows a set of loading panel doors  162 A and  162 B. The doors  162 A and  162 B are open to allow access to the storage area  43 . The delivery vehicle  161  is shown backed up to the storage area  43 . 
     FIG. 3  shows the preferred embodiment with the enclosure  42  removed, exposing a transport apparatus  56  and a storage system  105 . The transport apparatus  56  consists of: a plurality of electrically driven computer-controlled carriages (EDC3)  58  with a carriage mounted bin manipulator (CMBM)  125  attached, and a rail system  78 . The storage system  105  consists of a plurality of bins  115  and a system of bin racks  107 . 
     FIG. 4A  shows the external parts the EDC3  58 . The EDC3  58  consists of a carriage frame  60 , an electric drive motor  67  with drive brake  65 , a plurality of x-direction toothed rotational devices  68 , a plurality of z-direction toothed rotational devices  69 , and a mobile control device  155 . 
     FIG. 4B  shows a preferred embodiment of a drive mechanical linkage  66  with the carriage frame  60 , and the drive motor  67  removed. Illustrated is an arrangement of a big drive gear  70 , a plurality of small drive gears  71 , a plurality of drive beveled gears  64 , a plurality of drive axels  62 , a plurality of drive axel insulators  63 . The drive mechanical linkage  66  provides gearing to regulate rotation speed and torque. The drive mechanical linkage  66  incorporates non-conducting material such as nylon or other suitable plastic material electrically isolates the sections of the drive mechanical linkage  66 . 
   The toothed rotational devices  68  and  69  are made of steel or other conductive material, and are mounted on all four sides of the carriage as illustrated in  FIGS. 4A and 4B . A drive rotation sensor  151  is integrated into the drive mechanical linkage  66 . The drive rotation sensor  151  counts the number of rotations of the drive mechanical linkage  66  and sends the count to the mobile control device  155 . 
   Illustrated is only one of a number of possible arrangements of gears, sprockets, wheels, chains and belts to transfer rotational energy from the electric drive motor  67  to the toothed rotational devices  68 , and  69   
     FIG. 5  shows an exploded view of the arrangement between the EDC3  58 , the carriage mounted bin manipulator (CMBM)  125  and the bin  115 . The EDC3  58  is shown with a plurality of rail guides  61 . The rail guides  61  are mounted to the carriage frame  60  before and after each of the toothed rotational devices  68 , and  69 . 
     FIG. 6  shows the CMBM  125  consisting of a CMBM frame  126 , a plurality of manipulator arm sprockets  130 , a plurality of manipulator arms  127 , manipulator mechanical linkages  128 , a manipulator motor  131 , and a manipulator brake  132 . The CMBM frame  126  is attached to the EDC3  58  carriage frame  60  by standard mechanical fasteners. The manipulator motor  131  is linked by the manipulator mechanical linkage  128  to rotate a set of manipulator arm sprockets  130  in synchronization on both sides of the CMBM  125 . The manipulator arm sprockets  130  drives a manipulator arm chains  129  that drive the manipulator arms  127  that are attached perpendicular to the links of the manipulator arm chains  129 . The manipulator brake  132  is integrated into the manipulator mechanical linkage  128 , the brake  132  locks the manipulator arms  127  in place. A manipulator rotation sensor  156  is mounted to the manipulator mechanical linkage  128  to indicate the position of the manipulator arms  127 . The manipulator motor  131 , manipulator brake  132  and manipulator rotation sensor  156  are connected to the mobile control device  155  by wires; the wires are not shown. 
     FIG. 7  shows a plurality of horizontal rails  79 , the horizontal rails  79  are divided into four sections: a plurality of rack rails  82 , a plurality of sending rails  83 , a plurality of delivering rails  84 , and a plurality of returning rails  85 . The horizontal rails  79  are paired and spaced apart the width of the EDC3  58 . The horizontal rails  79  are made of strong, rigid, conductive material. 
   The inset  FIG. 7A  illustrates the horizontal rails  79  as an L-channel  92  fitted with a chain, slots, bars or other interlocking device  89  inside the channel  92 . The horizontal rails  79  are mounted to a non-conducting or electrically isolated framework that is attached to a support structure of the enclosure  42 . The framework is of standard construction, is not part of this invention and is not shown. 
   The rails of  FIG. 7  are electrically energized with an electrical potential between paired rails. The electrical continuity between rails is provided by sections of conductive material not shown. The rack rails  82  are arrange parallel over a storage system  105 , the sending rails  83 , delivering rails  84  and returning rails  85  form a loop extending out from and then returning to the rack rails  82 . There is a bend  86  in the sending rails  83 . The bend  86  curves upward to increase elevation as the sending rails  83  go from the rack rails  82  to the delivering rails  84 . There is a bend  87  in the returning rails  85 . The bends  87  curves upward to increase the elevation as the returning rails  85  connect the delivery rails  84  to the rack rails  82 . The delivery rails  84  are located over the delivery access panel  46 . 
     FIG. 8  is a side elevation view of an alternate arrangement of the horizontal rails  79 . Flat rails  74  run underneath the horizontal rails  79 . At both ends of the flat rails  74 , there are curving up rails  75 A, at other ends of the flat rails  74  there are curving down rails  75 B. As the horizontal rails  79  extend over the curves  75 A and  75 B, where there are ratcheting endless chains  76  that ratchet forward over the top of the curves  75 A and  75 B. Wheels  77  mounted to the EDC3&#39;s  58  toothed rotational devices  68  roll up the curve  75 A to the flat rails  74 , as the wheels  77  go up so do the toothed rotational devices  68 . While the toothed rotational devices  68  and the wheels  77  are both engaged, the toothed rotational devices  68  causes the ratcheting endless chains  76  to ratchet forward to compensate for the change in speed of the toothed rotational device  68 . While the wheels  77  roll on the flat rails  74 , the toothed rotational devices  68  disengage from the horizontal rails  79 . When the wheels  77  roll down the curve  75 B the toothed rotational devices  68  engage the ratcheting endless chains  75 B. The ratcheting forward compensates for the differences in speed. 
   As shown in  FIG. 9  shows a plurality of vertical rails  80 , the vertical rails  80  are attached perpendicularly to the horizontal rails  79  at predetermined locations.  FIG. 9A  is an inset that shows where the vertical rails  80  attach to the horizontal rails  79  forming two breaks in the horizontal rails  79 . The vertical rails  80  are made of roller chain, the vertical rails  80  could also be made from link chain, slotted bars, channel with cross members or other interlocking devices that provide traction for the toothed rotational devices  68  without slippage. The vertical rails  80  are anchored at the top and the bottom. The top of the vertical rails  80  are inline with the horizontal rails  79 , spaced to leave small gaps  99 , and large gaps  100  between the horizontal rails  79  and the top of the vertical rails  80 . 
   Trapdoors  95  cover the gaps  99  and  100  in the horizontal rails  79 . The trapdoors  95  are constructed of strong, conductive material that can be machined, molded or shaped. The trapdoors  95  have torsion mounted hinge devices  96  that work to keep the trapdoors  95  in the open position until a downward force applied to the top of the trapdoors  95  close the-trapdoors  95  and completes the horizontal rails  79 . The torsion mounted hinge devices  96  consist of springs, elastic bands, counterweights, magnets, solenoids, actuators, electric motors or other torsion-supplying devices. There are stops  98  to restrict the arc of rotation for the trapdoors  95 . 
     FIG. 10  illustrates a transition intersection  81 ; the transition intersection  81  has the trapdoors  95 , a plurality of short vertical rails  88 . The trapdoors  95  open to the short vertical rails  88  that end just above the horizontal rails running perpendicular  90  to the upper horizontal rails  91 . The EDC3  58  with CMBM  125  are attached to the four short vertical rails  88 . 
     FIG. 11  shows a cut away view of the delivery doors  48 . The delivery doors  48  consists of an inner door  52  and an outer door  51  that are connected by a door interlock  53 . The EDC3  58  with CMBM  125  is attached to the vertical rails  80 . Two bins  115  are shown with an imaging devices  54  mounted above the bins  115 . 
     FIG. 12  shows the bin racks  107  consisting of rack posts  108  with a plurality of horizontal support surfaces  109  mounted to the rack posts  108 . The horizontal support surfaces  109  can be mounted at multiple points or mounted as cantilever supports. The bin racks  107  will support bins  115  on both sides of the column 
     FIG. 13A  and  FIG. 13B  show the preferred embodiment of the bins  115 . The bin  115  is made of durable non-conducting material with bin lips  116  on two sides. The bin lips  116  allow the bins  115  to slide in and out of the horizontal support surfaces  109 . When the bins  115  are stored in the bin rack  107  the bin lips  116  rest on the horizontal support surfaces  109 . The bins  115  have bin grips  117  to allow for delivery and removal of the bin bins  115  to and from the bin racks  107 . The size and shape of the bins  115  can be adjusted to accommodate items that are to be transported or stored. 
   Operation of Preferred Embodiment 
   FIGS.  2 ,  4 A-B,  7 ,  11 ,  14 A-H,  15 A-D,  16 ,  17 A-F,  18   
     FIGS. 4A and 4B  illustrated the operation of the EDC3  58 . The drive motor  67  provides rotational energy to the big drive gear  70 ; the mechanical energy is transferred to the small drive gears  71 . The size of the gears is adjusted to provide the proper speed to torque requirements. The drive beveled gears  64  change the direction or rotation from the x-plane to the y-plane and z-plane. The drive axels  62  run through the drive beveled gears  64  and attach to the toothed rotational devices  68  and  69 . In this way, rotational mechanical energy is transferred to the toothed rotational devices  68  and  69 . When the drive brake  65  is on, the drive mechanical linkage  66  holds the EDC3  58  locked in place. The toothed rotational devices  68  and  69  are electrically isolated from one another by the drive axel insulators  63  and by using non-conducting material for the big drive gear  70 . The drive rotation sensor  151  counts the number of turns the drive axels  62  makes. This information is sent to the mobile control device  155 . The mobile control device  155  starts, stops, and controls the direction of rotation of the drive motor  67  and applies and releases the drive brake  65 . The mobile control device  155 , the drive motor  67 , and the drive brake  65  receive power from a brush or a bushing (not shown) that connect to each of the drive axles by standard engineering practices. The brushes, drive motor  67 , drive brake  65  and the drive rotation sensor  151  are connected to the control unit by wires (not shown). 
     FIG. 11  illustrates how the door interlock  53  prevents both doors  51  and  52  from being open at the same time. The outer door  51  opens to allow access to the item in the bins  115 ; the inner door  52  prevents contact with electrified vertical rails  80 . When the outer door  51  is closed, the inner door  52  is opened. The EDC3  58  lowered the CMBM  125  to a position where it can manipulate the bin  115  from either side. The imaging device  54  records an image and transmits the image to the database  157  ( FIG. 18 ). The image is linked to the transaction to allow verification of the content of the bin  115  when the bin  115  was delivered. 
     FIGS. 14A-H  illustrated the operation of a single trapdoor  95 .  FIG. 14A  show the toothed rotational device  68  traveling on the interlocking device  89 . The intermeshing of the toothed rotational device  68  and the interlocking device  89  prevents slippage. Approaching the trapdoor  95 , the arrow indicates the direction of rotation.  FIG. 14B  demonstrates the toothed rotational device  68  mashing the trapdoor  95  down and covering the access to the vertical rails  80  thus allowing the toothed rotational device  68  to continue on the horizontal rail  79 .  FIG. 14C  illustrates the toothed rotational device  68  reversing direction and heading toward the trapdoor  95  that is now held open by the torsion mounted hinge device  96 .  FIG. 14D  demonstrates how the toothed rotational device  68  pivots around the top of the vertical rail  80  and is guided by the bottom side of the trapdoor  95  as the toothed rotational device  68  continues to pivots the rail guide  61  slips into the small gap  99 .  FIG. 14E  illustrates the toothed rotational device  68  held against the vertical rail  80  by the rail guide  61 .  FIG. 14F  demonstrates how the toothed rotational device  68  pivots around the top of the vertical rail  80  and is guided by the bottom side of the trapdoor  95 , as the toothed rotational device  68  continues to pivots the rail guide  61  slips out of the small gap  99 .  FIG. 14G  and  FIG. 14H  demonstrate the toothed rotational device  68  continuing to travel down the horizontal rail  79 . 
     FIGS. 15A-D  illustrated the operation of the EDC3  58  transitioning from the horizontal rails  79  to the vertical rails  80 .  FIG. 15A  illustrates the EDC3  58  closing and rolling over the-trapdoors  95 . 
   When the EDC3  58  is going in the direction that closes the-trapdoors  95  the EDC3  58  will continue on down the horizontal rails  79 . After the carriage passes over the trapdoors in one direction the mobile controls device  155  reverse the drive motor  67  and the EDC3  58  goes in the reversed direction,  FIG. 15B  illustrates the EDC3  58  reversing rotation on the toothed rotational devices  68  and entering the-trapdoors  95 . The toothed rotational devices  68  or  69  are guided under the trapdoors  95 , and as the toothed rotational devices  68  or  69  rotate around the top of the vertical rails  80 , the rail guides  61  locks the toothed rotational devices  68  or  69  into the vertical rails  80 . In this way the EDC3  58  is powered down the vertical rails  80  with four points of attachment, as shown in  FIG. 15C . This changes the direction of travel from the horizontal x-direction to the vertical y-direction. When the EDC3  58  is lowered to the desired position on the vertical rails  80  the mobile control device  155  cuts power to the drive motor  67  and applies power to the drive brake  65  to hold the EDC3  58  locked in position, an EDC3  58  in the locked position is illustrated by  FIG. 15D . When the EDC3  58  is ready to resume traveling the sequence is reversed. The mobile control device  155  cuts power to unlock the drive brake  65  and applies electrical power to the drive motor  67 , the EDC3  58  climbs back up the vertical rails  80 . When the EDC3  58  reaches the top of the vertical rails  80 , the underside of the-trapdoors  95  serves as a guide to hold the toothed rotational devices  68  or  69  as the toothed rotational devices  68  or  69  rotate around the top of the vertical rails  80 . In this way the EDC3  58  is powered onto the horizontal rails  79 . This changes the direction of travel from the vertical y-direction to the horizontal x-direction. 
   As illustrated in  FIG. 16  the transition intersections  81  uses the trapdoors  95  that open to the short vertical rails  88  to lower the EDC3  58  to a horizontal rails running perpendicular  90  from a set of upper horizontal rails  91 . The short vertical rails  88  allow the EDC3  58  and attached CMBM  125  to clear the lower horizontal rails running perpendicular  90  when passing over. The short vertical rails  88  stop above the lower horizontal rails running perpendicular  90  to allow the EDC3&#39;s  58  x-direction toothed rotational device  68  to run off of the short vertical rails  88  and gently drop onto the lower horizontal rails running perpendicular  90 . When the z-direction toothed rotational devices  69  are seated in the lower horizontal rails running perpendicular  90 ; the EDC3  58  moves in the z-direction. 
   As the EDC3  58  travels along the horizontal rails  79  the EDC3  58  travels over many trapdoors  95 , the EDC3  58  has the option to use the trapdoors  95  to gain access to the vertical rails  80  and bins  115 . As illustrated in  FIG. 7  the horizontal rails  79  can be bend  86  and  87  upward to changes the elevation of the horizontal rails  79  so that the next transition intersection  81  can be used to lower the EDC3  58  onto horizontal rails running perpendicular  90  to the horizontal rails  79  the EDC3  58  is traveling on. By using the next transition intersection  81  the direction of travel can be changed from the horizontal z-direction to the horizontal x-direction. This allows the EDC3  58  to move in three-dimensions. The EDC3  58  is able to navigate in three-dimensions with the single drive motor  67  by using the rail system  78 . 
   As shown in  FIG. 16  each EDC3  58  has its own independent propulsion and mobile control device  155  so multiple EDC3s  58  can independently operate on the rail system  78  to carry out multiple tasks simultaneously. Because the rail system  78  furnishes the electrical power the EDC3s  58  can operate continuously without downtime to recharge. 
   As illustrated in  FIGS. 17A-F  when the EDC3  58  has maneuvered into position to manipulate a bin  115  the CMBM&#39;s  125  mobile control device  155  cuts power to the drive motor  67  and applies power to the drive brake  65  holding the EDC3  58  in place for the bin  115  transfer.  FIGS. 17A-F  illustrates the transfer of the bin  115  between the CMBM  125  and the bin rack  107 . The parts shown in  FIG. 6 : the CMBM frame  126  the manipulator motor  131 , the manipulator brake  132 , the manipulator mechanical linkage  128 , and the manipulator rotation sensor  156  are not shown in order to better illustrate the operation of the CMBM  125 . 
     FIG. 17A  shows the bin  115  in the carry position, the bin  115  is in the center and held in place by the manipulator arms  127 A and  127 B. The mobile control device  155  releases the manipulator brake  132  and starts the manipulator motor  131 . The manipulator motor  131  operates the manipulator mechanical linkage  128  shown in  FIG. 6 , the linkage  128  rotates the manipulator arm sprockets  130  so that the manipulator arm chains  129  will articulate around the manipulator arm sprockets  130 . 
     FIG. 17B  illustrated how the manipulator arms  127 A and  127 B being attached perpendicular to the manipulator arm chains  129  will support the bin  115  as the manipulator arms  127 B travels along the path of the manipulator arm chains  129 . This movement places the bin lips  116  on the horizontal support surfaces  109 . 
     FIG. 17C  demonstrates how the manipulator arms  127 A arc down and away from the bin grips  117 A, as the manipulator arms  127 B follows the curvature of the manipulator arm sprockets  130 . The manipulator arms  127 B continues to support and push the bin  115  as the manipulator arms  127 B travels along the path of the manipulator arm chains  129 . This movement places the bin lips  116  further onto the horizontal support surfaces  109 . 
     FIG. 17D  exemplifies how the manipulator arms  127 A continue to arc around to the underside of the manipulator arm chains  129 . The manipulator arms  127 B continues to support and push the bin  115  as the manipulator arms  127 B travels along the path of the manipulator arm chains  129 . This movement places the bin lips  116  further onto the horizontal support surfaces  109 . 
     FIG. 17E  reveals how the manipulator arms  127 A continues to travel across the underside of the manipulator arm chains  129 . The bin lips  116  are far enough onto the horizontal support surfaces  109  to support the weight of the bin  115 . The manipulator arms  127 B arc down and away from the grips  117 B, as the manipulator arms  127 B follows the curvature of the manipulator arm sprockets  130 . The manipulator arms  127 B continues to push the bin  115  as the manipulator arms  127 B slides down the bin grips  117 B. This movement places the bin lips  116  completely onto the horizontal support surfaces  109 . 
     FIG. 17E  shows how the manipulator arms  127 A and  127 B continue to travel across the underside of the manipulator arm chains  129 . The manipulator arms  127 A and  127 B are tucked away so that the EDC3  58  can navigate to the next bin  115  to be manipulated. 
   To manipulate the bin  115  from the bin rack  107  to the CMBM  125 , the sequence of events are reversed. The sequence starts with  FIG. 17F  and ends with  FIG. 17A . As the manipulator arms  127 B starts from the lower position and arcs outward and upward as shown in  FIG. 17E  the manipulator arms  127 B engage the bin grips  117 B.  FIG. 17D  illustrates the manipulator arms  127 B pulling the bin  115  by the bin grips  117 B into the CMBM  125  as the bin lips  116  slides off of the horizontal support surface  109 .  FIG. 17C  demonstrates how the second set of manipulator arms  127 A arc out and up to engage the bin grips  117 A.  FIG. 17B  illustrate how the manipulator arms  127 A and  127 B lift and support the bin  115  as it is moved completely into the CMBM  125 . 
   The mobile control device  155  receives a count from the manipulator rotation sensor  156  to determine when the bin  115  is in the loaded position. When the bin  115  is in the loaded position the mobile control device  155  stops the manipulator motor  131  and locks the manipulator brake  132 . In this position, the bin  115  is held securely for transport. 
   The bin  115  and its contents are then transported by the EDC3  58  to the location where the bin  115  is to be manipulated from the EDC3  58  to the rack  107 . The CMBM  125  can load or unload the bin  115  from either side. The manipulator motor  131  drives the manipulator arms in the direction the bin  115  is to be manipulated. 
     FIG. 18  is a block diagram of an equipment control system  140 . Major control components of the equipment control system  140  include: the customer interface panel  47 , a remote override  158 , a main computer  146 , a stocking barcode reader  152 , a stationary electromagnetic transceivers  154 , and a mobile electromagnetic transceivers  153 , the mobile control devices  155 , the drive rotation sensors  151 , the manipulator rotation sensors  156 , the drive motor  67 , the manipulator motors  131 , the drive brake  65 , the manipulator brake  132 , and a relay block  150 . 
   The stocking barcode reader  152  is used to read barcodes, information such as product identification numbers  301 , bin identification numbers  302 , and rack identification numbers  303  are sent to the main computer  146 . This information is stored in a database  157 . 
   A user drives or walks up to the delivery access panel  46 . Using a touch screen, keyboard, voice commands or other customer interface device  47  the user is able to view available items and applicable prices. The user places an order and pays for the items by operation of the customer interface device  47 . The main computer  146  checks the database  157  for the location in the storage area  43  that contains the bin  115  that contains the desired item. The database  157  has stored a unique set of commands to direct the EDC3  58  to the bin  115  location, commands to operate the CMBM  125 , commands to direct the EDC3  58  to deliver the bin  115  to the appropriate delivery access panel  46 , commands to directs the EDC3  58  to return to a holding area to wait for the next sets of commands. These commands are sent from the main computer  146  by the stationary transceiver  154 . The mobile transceiver  153  located on the EDC3  58  receives the signal and sends it to the mobile control device  155 . The EDC3  58  receives information from the drive rotation sensors  151 , and the manipulator rotation sensors  156 . The EDC3  58  uses this information to determine when to apply power to relays in the relay block  150 . The relays control the power to the drive motor  67 , and the drive brakes  65 . By starting, stopping and reversing the drive motor  67 , the mobile control device  155  controls the navigation of the EDC3  58  in three-dimensions. The relays control the power to the manipulator motor  131 , and manipulator brakes  132 . By starting, stopping and reversing the manipulator motor  131 , the mobile control device  155  controls the manipulation of bins  115 . 
   The remote override  158  sends signals to the main computer to fix problems, do maintenance and handle difficult transactions. 
     FIG. 2  illustrates a vendor loading panel  160 , the vendor loading panel  160  allows a vendor access to the bins  115  while the bins  115  are suspended in the bin racks  107 . This keeps the vendor from being exposed to dangerous moving parts and reduces pilfering. 
   DESCRIPTION 
   Alternate Embodiments for Transport 
   FIG.  19   
   There are various possibilities with regard to how the EDC3  58  can be used to transport and store items,  FIG. 19  shows a bin hooks  134  mounted to the EDC3  58 . The bin hooks  134  would replace or work with the CMBM  125 . The hooks are torsion mounted with attached solenoid operators (not shown). This alternate embodiment uses stackable bins  118 ; the stackable bins  118  have stackable bin lips  119 . 
   OPERATIONS 
   Alternate Embodiments for Bin Manipulation 
   FIG.  19 B 
   As illustrated in  FIG. 19B  the bin hooks  134  slide over the stackable bin lips  119  as the EDC3  58  is lowered over the stackable bins  118 , the bin hooks  134  locks around the stackable bin lips  119  so the EDC3  58  can transport the stackable bins  118 . This allow for the loading and unloading of trucks, containers, boats, aircraft or any enclosed space. When the bins  115  are lowered into place, the bin hooks  134  open up and release the stackable bins  118 . 
   DESCRIPTION 
   Alternate Embodiments for Mechanical Linkage 
   FIG.  20   
   There are many possible arrangements for the drive mechanical linkage  66  to propel the EDC3  58 .  FIG. 20  shows an alternate embodiment of the EDC3  58  using chain  202  as a linkage between the drive motor  201  and the toothed rotational devices  68  and  69 . The operation of the alternate embodiment of the EDC3  200  is the same as the preferred embodiment of the EDC3  58  shown in  FIG. 4A  and  FIG. 4B . 
   DESCRIPTION 
   Additional Embodiments for Trapdoor 
   FIGS.  21 A-E,  22   
     FIG. 21A  shows a hatch door  94  consisting of all the same parts as the-trapdoors  95 ; the hatch door  94  is mounted above the horizontal rails  79 . To simplify the illustration only one toothed rotational device  68  is shown. As illustrated by  FIG. 21B  the operation of the hatch door  94  allows the toothed rotational device  68  of the EDC3  58  to push the hatch door  94  up and out of the way when passing underneath the hatch door  94  from the torsion mounted hinge device  96 .  FIG. 21C  shows the point in the operation sequenced when the tooth rotational device  68  reverses rotation and moves toward the open hatch door  94 .  FIG. 21D  shows the position of the tooth rotational device  68  after it has climbed the hatch door  94  and is in position to lock the toothed rotational device  68  to the vertical rails  80  with the rails guide  61 B sliding up the opposite side of the vertical rails  80 .  FIG. 21E  illustrates the tooth rotational device  68 ; locked in by the rail guide  61 B traveling up and vertical rails  80 . 
     FIG. 22  illustrates a combination of trapdoors  95  and hatch doors  94  used together to provide multiple paths for the EDC3s  58  to operate. With the combination arrangement EDC3s  58  can reach bins  115  from at least two different paths. This would be very useful to allow EDC3s  58  to be rerouted if a breakdown of an EDC3  58  block one of the paths. 
   DESCRIPTION 
   Additional Embodiments 
   FIGS.  24 ,  25 ,  25 ,  26   
   Additional embodiments are shown in  FIG. 23 ,  FIG. 24 ,  FIG. 25  and  FIG. 26 .  FIG. 23  is the layout of an airport  400 ; shown are a parking lot  401 , a plurality of passengers&#39; cars  402 , a passenger access point  403 , a security screening area,  404  a passenger terminal  405 , a plurality of jet bridges  406 , a plurality of aircraft  407 . All of these items are connected by a rail system  78  as described in preferred embodiment. 
     FIG. 24  is a layout of a hospital  500 ; shown are patient rooms  501 , an intensive care unit  502 , an exam room  503 , an operating room,  504  a x-ray room  505 , an emergency room  506 , a kitchen  507 , a storage area  508 , a pharmacy  509 , a laboratory  510 , and a trash/medical waste area  511 . All of these areas are connected by a rail system  78  as described in the preferred embodiment. 
     FIG. 25  is a layout of a restaurant; shown are a plurality of customer tables  512 , a kitchen processing area  513  and a smart server  514 . Not shown is the structure of the restaurant, which is not part of this invention. 
     FIG. 26  is a layout of a parking garage; shown are a plurality of parked vehicles  50 B, a plurality of vehicle bins  115 B, and a large EDC3  58 B. Not shown is the structure of the parking garage, which is not part of this invention. 
   OPERATIONS 
   Additional Embodiments 
   FIGS.  24 ,  25 ,  25 ,  26   
   As shown in  FIG. 23  the passenger arrives at the parking lot  401 , the passenger takes her luggage to the passenger access point  403 . The CMBM  125  takes the passenger&#39;s luggage through the necessary screening processes in the security screening area  404 . The CMBM  125  then takes the screened luggage to the aircraft  407 . After the passenger drops off her luggage, she proceeds to the passenger terminal  405 , the jet bridge  406 , and onto the aircraft  407 . When the plane lands the luggage is delivered to the passenger access point  403  when called for by the passenger. This would greatly increase the convenience of flying and reduce injury caused by dragging luggage over great distance. A major advantage is that unscreened luggage would be kept out of a terminal where there are large numbers of unprotected passengers; preventing passengers in from being killed or injured by explosives or other terrorist devices. 
   As shown in  FIG. 24  medical supplies, food, linen, lab samples, waste, medical waste, x-rays, or any other item can be transported over a rail system  78  by EDC3s  58  from the patient rooms  501 , the intensive care unit  502 , the exam room  503 , the operating room,  504  the x-ray room  505 , the emergency room  506 , the kitchen  507 , the storage room  508 , the pharmacy  509 , the laboratory  510 , and the trash/medical waste deposal area  511 . This relieves the staff of the drudgery of transporting items from one area to another. This system would also provide an accountability of drugs, supplies and waste. 
   As shown in  FIG. 25 ; the smart server  514  can move food, beverage and condiments from the kitchen processing area  513  to the customer tables  512 . When the meal is done the smart server,  514  can move the remains of the meal from the customer tables  512  to the kitchen processing area  513   
   As shown in  FIG. 25 ; the vehicle  50 B, is parked the vehicle bin  115 B, and the large EDC3  58 B picks up the vehicles  50 B in the vehicle bins  115 B, and moves the loaded vehicle bins  115 B to a storage space. When the vehicles  50 B is needed the process is reversed and the EDC3  58 B removes the vehicle bins  115 B with the vehicles  50 B inside, and moves the loaded vehicle bins  115 B to a pickup space. 
   CONCLUSION, RAMIFICATIONS AND SCOPE 
   Thus the reader will see that the Automated 3-Dimensional, Multitasking Item Stocking, Storage and Distribution System of the invention provides a plurality of electrically driven, computer-controlled carriage that navigate a three-dimensional system of electrified rails. When the electrically driven, computer-controlled carriages are in place, bin handling devices manipulate bins in and out of the racks. The bin serves as a holding device for items. The delivery and storage of items will be directed and monitored by a computer. The automated storing and delivery of items will greatly reduce labor requirements, reduce inventory errors, increased the security of the items and provide an overall convenience to the user. The ability to store items for flexible periods of time and then have the items delivered at a moments notice would preclude the need for the continuous staffing of a delivery process. Programmable devices have resulted from economical computer components and increased computing capability. Furthermore, the stocking, storage and distribution system has the additional advantages in that:
         EDC3s can work simultaneously to accomplish tasks;   the system can be storing items and delivering items at the same time;   each EDC3 only needs one reversible motor to navigate the matrix;   each EDC3 only needs one reversible motor to store and deliver items;   the EDC3 and rail system is built of mostly stock parts, that can be put together in modular form;   the system design that does not require high cost stepper motors, servos, elevators, conveyors, transfer platforms, robotic arms, chutes, turntables, nor rail switchers;   the system has the capacity to store hundreds of varieties of items;   the system has the capacity of storing as few as one unit of any type of item;   the system can be designed where the user will be able to pick up items from the safety and security of her vehicle;   the bins are loaded with items away from the dangers of moving parts;   item loading can be accomplished with a minimum of errors and pilfering;   the item stay in the same bin until removed by the consumer; this would decrease the chances of damage to the merchandise;   an image is recorded with each transaction to allow verification of delivery.       

   While the above description contains much specificity, these should not be construed as limitations on the scope of the invention, but rather as an exemplification of one preferred embodiment thereof. Many other variations are possible. For example: automated delivery/storage system for warehouses, video stores, equipment rental, book stores, libraries, apartment/hotel, individual homes, mail/package services, manufacturing plants, hazardous material, and ammunition. The system could be used for transportation of humans in three-dimensions; storage of live humans will not be necessary. The EDC3 can be adapted to transport robotic arms, surveillance equipment, tools or other attachments. Batteries could furnish the electric power or batteries could be used as backup power. Accordingly, the scope of the invention should be determined not by the embodiments illustrated, but by the appended claims and. their legal equivalents.