Abstract:
A vessel racking device comprising a wheeled material handling system that rides on a ground based track system which lies between a staging area and a storage area. The storage area is made up of a plurality of cells positioned above, at or below ground level. Through a set of fixed longitudinal rails, the ground based track system enables the wheeled towerless material handling system to move between the water&#39;s edge and the storage area in a reproducible manner by a moderately skilled operator. The wheeled towerless material handling system is capable of lifting a vessel out of the water and placing it in a cell. The wheeled towerless material handling system is capable of altering its vertical profile to avoid and/or clear overhead obstructions.

Description:
FIELD OF THE INVENTION  
         [0001]    This invention relates to a material handling system for handling articles such as vessels. More specifically, the invention relates to railed material handling systems which handle and store vessels onshore.  
         BACKGROUND OF THE INVENTION  
         [0002]    Typically, when a vessel is not in use it will be tied up at a dock, berth or mooring buoy. Most marinas, however, do not have sufficient berths or mooring buoys to accommodate all of the vessels that are used in and around the marina. Furthermore, maintaining or storing vessels in berths and/or mooring buoys can be costly. One solution is to provide land based storage for vessels that will not be used for extended periods of time. The most common land based storage for vessels is a trailer. Another storage means is dry stacking the vessels in a storage area.  
           [0003]    Trailers are inexpensive but require a vehicle fitted with a trailer hitch; a ramp of sufficient slope to accommodate both the trailer and the vessel; and a skilled operator to handle the trailer. One system which alleviates the ramp and some of the skilled operator problems is set forth in U.S. Pat. No. 4,976,211 to Reinhardt, for “Boat Launching System.” However, the Reinhardt system does not address the significant amount of real estate required to store a trailer which is either empty or loaded.  
           [0004]    An alternative is dry stacking which includes a (uncovered or covered) rack adapted to store a number of vessels in cells or bays. The cells are aligned along a wall, and are set up in shelves. In this way, a number of vessels are stored on each shelve, with a number of shelves rising vertically, with one vessel stored above another, much like books in a book shelve. Such systems eliminate the need for the trailer, the vehicle, the ramp and the need for a significant amount of real estate. A typical dry stack system may utilize a free ranging lift truck as disclosed in U.S. Pat. No. 6,027,303 to Voegeli for “Non-Counterweighted Lift Truck and Method of Operation.” Other dry stack systems utilize an overhead crane of varying degrees of complexity as described in U.S. Pat. No. 3,189,198 to Filak, for “Small Boat Dry Storage Facility;” U.S. Pat. No. 3,786,942 to Dane for “Dry Sail Marina;” U.S. Pat. No. 4,190,013 to Otis et. al. for “Floating Dry Storage Facility for Small Boats;” and U.S. Pat. No. 6,007,288 to Maffet for “Watercraft Storage System.” Such overhead systems usually require the storage rack(s) to be positioned next to a navigable channel cut into the dry stack area or the overhead rails to extend over the water.  
           [0005]    The need for a navigable channel in most overhead systems typically requires an initial carving out of the channel and continued dredging to maintain navigability, both costly drawbacks to the overhead crane style system. Common to all racking systems with overhead cranes is the inaccessibility of the overhead crane and its related systems. Furthermore, overhead cranes tend to be electrically powered to reduce weight aloft, but suffer from corrosion and the effects of the harsh marine environment. Finally, a major drawback with overhead crane style systems, like the systems describe in the patents of Otis, Filak, Dane, and Maffet is the need for an unobstructed vertical height from the overhead rail to the water&#39;s edge along the rail path of the crane tower.  
           [0006]    An alternative to the overhead crane system is a ground based tower system as described in U.S. Pat. No. 4,797,055 to Tworoger et al. for “Load Moving Apparatus;” and U.S. Pat. No. 4,953,488 to Heidtmann for “Boat Carrousel.” In a ground based tower system, a tower supports a set of vertically positioned rails about which a fork or lift car travels. A major drawback to tower based systems is the fixed vertical height of the tower. Like the overhead crane system, the tower based system is difficult to repair and maintain at the upper region. When the tower is mobile, there must be a vertical clearance of any obstructions greater than or equal to the height of the tower in all areas where the tower operates very similar to the vertical clearance required for overhead crane systems. Where vertical obstructions exist, like overhead power lines, costly relocation of the obstruction or the dry stacking system is required. Furthermore, the openings and associated doors of the storage areas must be of sufficient height to accommodate ingress and egress of the tower. Such large openings and doors can be difficult to install and maintain. Where the storage area is climate controlled, such large openings, when opened, upset the regulated environment of the storage area. Such a problem is typically compensated for by increasing the capacity of the climate control system or installing flexible curtains. Finally, construction and erection of the tower can be complicated, costly and require custom designed and fabricated systems.  
           [0007]    In view of the above described deficiencies associated with dry storage devices and methods utilizing either a trailer or tower to handle a vessel, the present invention has been developed to alleviate these drawbacks and provide further benefits to the user. These enhancements and benefits are described in greater detail herein below with respect to several alternative embodiments of the present invention.  
         SUMMARY OF THE INVENTION  
         [0008]    The device includes a wheeled towerless material handling system that rides on a ground based track system which lies between a staging area and a storage area. The storage area is made up of a plurality of cells positioned above, at or below ground level. Through a set of fixed longitudinal rails, the ground based track system enables the wheeled towerless material handling system to move between the water&#39;s edge and a storage area in a reproducible manner by a moderately skilled operator. The wheeled towerless material handling system is capable of lifting a vessel out of the water and placing it in a cell. The wheeled towerless material handling system is capable of altering its vertical profile to avoid and/or clear overhead obstructions.  
           [0009]    The ground based track system includes longitudinal rails which are positioned on the ground, rather than positioned overhead. In a preferred embodiment, a set of transverse rails are moveably fixed to the fixed longitudinal rails. When present, the transverse rails are preferably propelled about the longitudinal rails on a set of rail bogies. The towerless material handling system includes a wheeled carriage configured to move about the ground based track system. In a preferred embodiment, the wheeled carriage is mounted on the transverse rails of the preferred embodiment of the ground based track system.  
           [0010]    The towerless material handling system further includes a telescoping lift system capable of lifting a vessel out of the water and placing it in a designated cell for storage. In one embodiment, the telescoping lift system includes at least one tine or fork configured to support and handle a vessel. In a preferred embodiment, the towerless material handling system includes a turntable or rotex configured to rotate the towerless material handling system about a substantially vertical axis. In one embodiment, the towerless material handling system includes a body mounted on the turntable which in turn is mounted on a carriage to allow rotation of the body above the carriage. The carriage bogies are fixed to the carriage to allow transverse movement. In the above described configuration, the device has four degrees of freedom to handle the vessel.  
           [0011]    In another embodiment, the telescoping lift system is capable of tilting off a substantially vertical axis, thereby giving the device another degree of freedom and enhanced vessel handling capabilities. In an alternative embodiment, the tines or forks are configured to rotate about a substantially horizontal axis, thereby giving the device another degree of freedom and enhanced vessel handling capabilities. In yet another embodiment, the tines or forks are configured to move laterally, thereby giving the device another degree of freedom and enhanced vessel handling capabilities. In the most preferred embodiment, each of the features described above are part of the device, thereby resulting in seven degrees of freedom to handle the vessel. In sum, for each operative attachment between two components, at least one degree of freedom is achieved.  
           [0012]    As can be appreciated, power and control to move the device through the various degrees of freedom can be hydraulic, electric, mechanical and/or a combination thereof. In the most preferred embodiment, hydraulic power moves the device through any one or all of the device&#39;s degrees of freedom at the same time. In one embodiment, the controls are located in a operators cab within the towerless material handling system. In an alternate embodiment, the device is controlled remotely. To assist the operator and promote repeatability of movements, the device further includes a series of positional indicators which coincide with each degree of freedom of the device.  
           [0013]    In the most preferred embodiment, the device is a modified hydraulic excavator  61  which rides the ground based track system. The excavator is modified by replacing the track and bogie system with a set of carriage bogies to allow the device to roll on or in the transverse rails. As can be appreciated, the excavator&#39;s power system as originally configured provides power to move the device about the transverse and/or rotational degrees of freedom.  
           [0014]    The excavator is further modified by removing the boom, stick, and bucket and replacing it with a telescoping lift system configured much like a standard negative reach forklift. This allows the telescoping lift to be lowered below the ground based rail system to handle a vessel position at the berth. The excavator&#39;s power system is modified to move the device about at least the longitudinal and lifting degrees of freedom. As can be appreciated by one skilled in the art, the modification and use of an excavator mounted on the ground based track system is easier to construct and install than a towered device.  
           [0015]    In another embodiment, the device includes a modified telehandler which rides the ground based track system. The modifications to the telehandler are similar to the excavator modifications described above. Telehandlers which do not possess a rotex or a rotational degree of freedom about an axis substantially perpendicular to the ground may be further modified by fitting at least one rotex or turntable between the body and the carriage which rides the ground based track system. By incorporating a telehandler, the transverse rails can be eliminated.  
           [0016]    This invention allows easy, repeatable alignment with the cells and or vessel to be handled when compared to conventional free ranging marina forklifts. All movements of the present invention are in association with fixed rails and, if installed, a reference system thereby reducing or eliminating any guess work in handling vessels.  
           [0017]    One special concern is to ensure that there is sufficient counterforce so that the vessel or load on the telescoping lift system does not tip over or otherwise destabilize the towerless material handling system. In one embodiment, the counterforce is achieved by means of a counterweight, as is typical on standard forklifts and earth moving machines, like excavators. Generally the counterweight may include the power system of the machine, as is the case in one embodiment of this invention. In another embodiment, the counterforce is achieved by configuring the turntable or rotex to prevent decoupling. In another embodiment, the counterforce is achieved by means of a rollover preventer slideably coupling the towerless material handling system to an underside surface of at least one rail in the ground based track system. In another embodiment, the counterforce is achieved by using rails which have a substantially “C” cross section adapted to receive and allow bogies (carriage or rail) to freely rotate and move within the rails. In another embodiment, the counterforce is achieved by using at least one counterforce bogie attached to the towerless material handling system and positioned to ride on an unobstructed underside surface of at least one rail in the ground based track system. In a preferred embodiment, the counterforce bogie may be positioned on or near the underside of the transverse rail in opposition to a carriage bogie or positioned on or near the underside of the transverse rail adjacent to a carriage bogie. The use of a counterforce bogie is similar to the typical bogie configuration on a roller coaster, and is well known in the art. 
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0018]    [0018]FIG. 1 is a layout view of a vessel racking system including a modified excavator.  
         [0019]    [0019]FIG. 2 is a layout view of a vessel racking system including a modified telehandler.  
         [0020]    [0020]FIG. 3 is an elevation view of a towerless material handling system mounted on a ground based track system.  
         [0021]    [0021]FIG. 3 a  is a detailed view of a longitudinal rail within a track pit.  
         [0022]    [0022]FIG. 3 b  is a detail view of a rail bogie.  
         [0023]    [0023]FIG. 4 is a plan view of a vessel racking system including a modified excavator.  
         [0024]    [0024]FIG. 4 a  is a is a detail elevation of a counterforce bogie.  
         [0025]    [0025]FIG. 4 b  is a cross section view of a counterforce bogie.  
         [0026]    [0026]FIG. 5 is a perspective view of a control device.  
         [0027]    [0027]FIG. 6 is a layout view of the prior art. 
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0028]    Detailed embodiments of the present invention are disclosed herein. It is to be understood, however, that the disclosed embodiments are merely exemplary of the invention that may be embodied in various and alternative forms. The figures are not necessarily to scale where some features may be exaggerated or minimized to show details of particular components. Therefore, specified structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention.  
         [0029]    [0029]FIGS. 1 and 2 show the general configuration of a vessel racking device  100 . The racking device  100  takes a vessel from a staging area  10 , picks it up, and moves it into the storage area  20  for long term storage. The staging area  10  will typically consist of either or both a vessel berth  12  for positioning a vessel in the water for pick up or a driveway  14  for positioning a vessel on a standard trailer for pick up. The staging area  10  is located near one end of a ground based track system  30 . The ground based track system  30  runs from the staging area  10  into the storage area  20 . The storage area  20  includes a lattice structure  22  consisting of individual cells or bays  24  sized to hold vessels. The racking device  100  includes a ground based track system  30 , and a towerless material handling system  60 .  
         [0030]    In one embodiment, as depicted in FIGS. 3 and 4, the ground based track system  30  is made up of longitudinal rails  32 , and transverse rails  34 . The longitudinal rails  32  are attached to the ground at periodic intervals from the staging area  10 , to the storage area  20 . The longitudinal rails  32  are substantially parallel to each other. The transverse rails  34  ride on or in the longitudinal rails  32  on a set of wheels or rail bogies  40 . To ride in the longitudinal rails  32 , the rail bogies  40  ride in a channel formed into the longitudinal rails  32 . To ride on the longitudinal rails  32 , the rail bogies  40  are configured to engage at least a portion of an upwardly facing surface of the longitudinal rails  32 . The transverse rails  34  riding in or on the longitudinal rails  32  is an operative attachment which results in a degree of freedom in a horizontal plane.  
         [0031]    The towerless material handling system  60  in turn rides the transverse rails  34  on a carriage  90  that has a set of carriage bogies  92  that roll on or in the transverse rails  34 . To ride in the transverse rails  34 , the carriage bogies  92  are positioned in a channel formed into the transverse rails  34 . To ride in the transverse rails  34 , the carriage bogies  92  are configured to engage at least a portion of an upwardly facing surface of the transverse rails  34 . The carriage  90  riding in or on the transverse rails  34  is an operative attachment which results in a degree of freedom in a horizontal plane. Whether a longitudinal rail  32  or transverse rail  34 , each is fitted with a stop  44  to limit movement about the ground based track system  30  (See FIGS. 3 and 4).  
         [0032]    In a preferred embodiment, the material handling system  60  is a hydraulic excavator modified to ride the ground based track system  30  and handle vessels to and from the staging area  10 . The modified hydraulic excavator includes a telescoping lift system  62 . The telescoping lift system is configured to move up or down at least one tine or fork  63  much like a negative reach forklift. The movement of at least one tine or fork  63  by the telescoping lift system  62  is an operative attachment which results in a degree of freedom in a vertical plane.  
         [0033]    The tines or forks  63  are adapted to support the vessel (from above or below). In one embodiment, the telescoping lift system  62  can extend the tines or forks  63  below the surface of the water or to a sufficient height above the ground to make contact with and support the underside of the vessel depending on its location in the water, on a trailer or in a storage cell  24 . In another embodiment, the vessel is supported by at least one tine or fork  63  positioned at a sufficient height above the vessel. In such an arrangement, support of the vessel is carried out by support structures (not shown) which extend beneath and make contact with the bottom of the vessel or attach to the vessel at or above its waterline.  
         [0034]    In another embodiment, the towerless material handling system further includes a telescoping boom  64  fixed to a body  70  and the telescoping lift system  62  as shown in FIG. 2. Extension and retraction of the telescoping boom  64  allows the vessel to be moved away from or closer to the body  70 . As can be appreciated, this type of movement is critical to the positioning of a vessel in or out of a cell or bay  24 . A telescoping boom  64  of proper length could eliminate the need for the transverse rails  34 . In another embodiment, the telescoping boom  64  is pivotably fixed to the body  70  and pivotably fixed to the telescoping lift system  62  to allow enhanced articulation of the tine(s)  63 . For each pivotable fixation between the telescoping lift system  62 , telescoping boom  64  and body  70 , a operative attachment is established and provides another degree of freedom in which to handle the vessel.  
         [0035]    Furthermore, a pivotably fixed telescoping boom  64  and pivotably fixed telescoping lift system  62  would allow the extension range of the telescoping lift system  62  to be reduced. It is further contemplated that fixation of the telescoping boom  64  can occur at the periphery, middle or central region of the body  70 . FIG. 2 depicts a pivotable fixation of the of the telescoping boom  64  at the periphery of the body  70 . In yet another embodiment, the towerless material handling system  60  is a modified telehandler adapted to engage said ground based track system  30 .  
         [0036]    Focusing on the tines  63 , in one embodiment, at least one tine  63  is rotatably attached to the telescoping lift system  62  to allow rotation about at least one axis substantially parallel to the ground. Rotatable attachment of at least one tine  63  to the telescoping lift system  62  creates an operative attachment and yet another degree of freedom. Allowing at least one tine  63  to rotate in such a manner enhances the ability to launch, retrieve and/or handle the vessel.  
         [0037]    A turntable or rotex  80  positioned between the body  70  and the carriage  90  allows the towerless material handling system  60  to fully rotate about an axis perpendicular to the ground. Such an operative attachment provides a degree of freedom in which to handle the vessel. This degree of freedom, in combination with the degrees of freedom associated with the ground based track system  30 , and the towerless material handling system  60  allows the tine(s)  63 , and hence the vessel supported by the tine(s)  63 , to be articulated into a wider range of positions for handling the vessel.  
         [0038]    As can be appreciated, the typical excavator includes a rotex or turntable  80 ; and therefore would not require extensive modifications to rotate the towerless material handling system  60 . In contrast, some existing telehandlers do not include a rotex or turntable  80  and would require modification to allow rotation of the telescoping boom  64 .  
         [0039]    Operation of the towerless material handling system  60  can occur from a cab  72  located on the body  70  (FIGS. 3 and 4) or from a position remote from the body  70  (not shown). The operator cab  72  is configured with the necessary controls  101  (FIG. 5) to fully operate the towerless material handling system  60 . The controls  101  are similar to standard heavy load moving machinery such as forklifts, excavators and telehandlers, and are well known in the art.  
         [0040]    In one embodiment, the material handling system  60  includes a counterweight  74 . The purpose of the counterweight  74  is to provide a counterforce mechanism to offset the weight of the load on the tines  63  to prevent the towerless material handling system  60  from tipping over. As can be appreciated from the simple physics of the configuration of the system, the weight of the vessel or other load on the tines  63  of the towerless material handling system  60  will produce a large force on the front end of the material handling system  60 . Without some measures to counteract these forces it is possible for the material handling system  60  to become unstable or even tip over. The counterweight  74  is a common means of preventing such a condition on similar heavy load moving machinery such as a forklift of front end loading dozer. In at least one embodiment of the present invention, the counterweight  74  will consist of the power system  100  of the towerless material handling system  60 .  
         [0041]    In an alternate embodiment, the means of providing a counterforce is produced by a counterforce bogie  94 , as depicted in FIGS. 4 a  and  4   b . The counterforce bogie  94  engages a lower surface or region of at least one rail of the ground based track system  30 . In a preferred embodiment, the counterforce bogie  94  engages a lower surface or region of at least one transverse rail  34 . When a load is on the tines  63  of the towerless material handling system  60 , the counterforce bogie  94  holds the towerless material handling system  60  in place by preventing the side of towerless material handling system  60  opposite the load on the tines  63  from rotating up and away from the transverse rails  34 . This system is similar to typical bogie arrangements that are standard on roller coasters, and are well known in the art. As an added or independent safety feature, the device  100  includes a rollover preventer  76  (FIG. 3 and  4 ), which is substantially a post and hook that extends vertically down below the carriage  90  and engages a lower surface of the transverse rails  34 . If the towerless material handling system  60  does begin to tip or become unstable the hook portion of the rollover preventer  76  will grab or engage the transverse rail  34 , thus preventing a rollover.  
         [0042]    In another embodiment, the counterforce require to prevent a rollover is achieved by configuring the turntable or rotex  80  to prevent decoupling of the body  70  from the carriage  90 . In another embodiment, the counterforce is achieved by using rails  32 ,  34  which have a substantially “C” cross section adapted to receive and allow bogies  40 ,  92 ,  94  to freely rotate and move within the rails  32 ,  34 .  
         [0043]    As can be appreciated, inclusion of a modified excavator or telehandler requires further modifications to adapt it to ride the ground based track system  30 . In a preferred embodiment, the existing carriage wheels of a wheeled excavator or telehandler are modified or replaced with carriage bogies  92  (FIG. 3 and  4 ) to ride in or on the transverse rails  34 . If the wheeled excavator includes a telescopic boom  64 , the existing carriage wheels could be modified or replaced with carriage bogies  92  to ride in or on the longitudinal rails  32 . Where the existing excavator (or telehandler) has crawler tracks, the modifications would be more extensive and require replacing the crawler tracks and bogies with carriage bogies  92 .  
         [0044]    In operation, a preferred embodiment of the towerless material handling system  60  moves longitudinally along the longitudinal rails  32  by rolling on the rail bogies  40  that are connected to the transverse rails  34 . This will allow the towerless material handling system  60  to move longitudinally from the staging area  10  into the storage area  20  after picking up the vessel or other load. The towerless material handling system  60  will then roll into the proper position to place the vessel into a corresponding predetermined cell  24 . The telescoping lift system  62  will then raise the vessel into the proper vertical position, and rotate on the rotex  80  to align the vessel with the appropriate corresponding cell  24 . The towerless material handling system  60  will then move transversely on the transverse rails  34 , by rolling on the carriage bogies  92 , to put the vessel into the corresponding cell  24 .  
         [0045]    In one embodiment, shown in FIG. 3 a , the longitudinal rails  32  are recessed in a track pit  33 . Use of a track pit  33  allows placement of the longitudinal rails  32  even with, or slightly below the surface of the ground or floor of the storage area  20 , thus eliminating the tripping hazzard of raised rails.  
         [0046]    In one embodiment, depicted in FIG. 3 b , the rail bogies  40  (and the carriage bogies  92 ) include a bogie tire  42 . The bogie tire  42  reduces the noise of the bogies on the rails, and also provides minimal shock absorption.  
         [0047]    Movement of the towerless material handling system  60  along the track system  30  can be achieved in a number of different ways. In the preferred embodiment, power is provided by means of a drive axle  50  (FIG. 3 and  4 ). Rotation is provided to the drive axle  50  by any number of conventional means including by means of a standard power system  100 . In one embodiment, the power system  100  of the towerless material handling system  60  provides rotation by means of standard gearing. In the most preferred embodiment, a hydraulic system turns the drive axle  50 . Movement by means of hydraulics is well known in the art.  
         [0048]    In the preferred embodiment, hydraulics provide the motive means. A hydraulic longitudinal drive  102  provides rotational forces to move the towerless material handling system  60  along the longitudinal rails  32 , and a hydraulic transverse drive  106  provides the rotational forces to move the towerless material handling system  60  along the transverse rails  34 . When engaged, the drive axle  50  will move the towerless material handling system  60  along the longitudinal rails  32 . The drive axle  50  can also transfer rotational forces by means of the clutch  104 , thus allowing movement of the towerless material handling system  60  along the transverse rails  34 .  
         [0049]    In at least one embodiment the invention also includes an alignment system to allow the operator to determine the position of the towerless material handling system  60  in relation to the cells  24  within the storage area  20 . The alignment system is depicted in FIG. 4, and includes a longitudinal position indicator  160  and a series of longitudinal reference points  165 . In one embodiment, the operator determines the longitudinal position of the towerless material handling system  60  by visually noting the position of the longitudinal position indicator  160  in relation to the longitudinal reference points  165 .  
         [0050]    The alignment system also includes a transverse position indicator  170  and corresponding transverse reference points  175 . Operation of the transverse position indicator  170  and corresponding transverse reference points  175  is identical to the operation of the longitudinal position indicator  160  and longitudinal reference points  165 .  
         [0051]    As depicted in FIG. 3, the alignment system also includes an elevation indicator  150  and corresponding elevation reference points  155  located on the telescoping lift system  62 . The operator is able to visually determine the elevation of the tines  63  by noting the location of the elevation indicator  150  in relation to the corresponding elevation reference point  155 . In at least one embodiment the elevation indicator  150  and corresponding elevation reference points  155  are electronically coupled to provide elevation reference information electronically.  
         [0052]    The alignment system also includes a transverse angle indicator  180  located on the underside of the body  70 , and a corresponding transverse reference arc  185  located on the rotex  80 . Because of the location of the transverse angle indicator  180  and corresponding transverse reference arc  185 , which is below the body  70  of the material handling system  60 , and thus out of view of the operator, the transverse angle indicator  180  and transverse reference arc  185  are electronically coupled, and provide the operator with transverse angle information through an electronic display.  
         [0053]    The alignment system also includes a vertical angle indicator  190  and corresponding vertical reference arc  195  located on the telescoping lift system  62 , to provide the operator with information regarding the vertical angle of the material handling system  60 .  
         [0054]    In another embodiment, the alignment system incorporate electronically interconnected reference analyzers (not shown) which electronically determine, and describe, the attitude and position of the vessel and towerless material handling system  60  in relation to or within the staging area  10  and storage area  20 . The alignment system is configured to achieve a high degree of repeatability of the positions and altitude of the vessel and racking device  100  to properly handle, stow, and/or launch the vessel.  
         [0055]    The towerless material handling system  60  is operated by means of a control device  101 , as shown in FIG. 5. In one embodiment, the control device  101  is located in the operator cab  72  of the material handling system  60 . In an alternate embodiment, the control device  101  is located remotely from the material handling system  60 , either on a moveable handheld controlling mechanism, or from at least one fixed location adjacent to the staging area  10  and/or storage area  20 . The control device  101  includes a rail control  110  for controlling the position of the material handling system  60  on the rails. The rail control  110  is designed for operation much like the joy stick on a computer or video game, and such controls are well known in the art. Movement of the rail control  110  left or right as the operator faces the control device  101 , will move the material handling system  60  left or right on the longitudinal rails  32 . Movement of the rail control  110  forward or backward will move the material handling system  60  forward or backward on the transverse rails  34 .  
         [0056]    The control device  101  also includes a material handling control  120 , which is designed similarly to the rail control  110 . Movement of the material handling control  120  forward will lower the tines  63  of the telescoping lift system  62 . Movement of the material handling control  120  backwards will raise the tines  63 . Movement of the material handling control  120  left or right will rotate the towerless material handling system  60 . As described, the two control levers of the control device  101  allow complete control of the device  100  with two hands.  
         [0057]    With respect to the above description, it is to be realized that the optimum dimensional relationships for the parts of the invention, to include variations in size, materials, shape, form, function and manner of operations, assembly and use, are deemed readily apparent and obvious to one skilled in the art, and all equivalent relationships to those illustrated in the drawings, and described in the specification, are intended to be encompassed by the present invention.  
         [0058]    Therefore, the foregoing is considered as illustrative only of the principles of the invention. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the invention to the exact construction and operation shown and described. Accordingly, all suitable modifications and equivalents are considered to fall within the scope of the invention.