Patent Description:
The exemplary embodiments generally relate to material handling systems and, more particularly, to transport and storage of items within the material handling systems.

Generally the storage of items within, for example, a warehouse requires a large building or storage structure space with an associated footprint. Automated vehicles or robots may be used in these warehouses to place items in storage and remove items from storage. <CIT> discloses an autonomous transport vehicle for a storage and retrieval system according to the preamble of claim <NUM> and a method for transferring pickfaces within a storage and retrieval system that includes at least one autonomous transport vehicle.

It would be advantageous to have an automated vehicle that can efficiently pick items for removal from the storage structure. It would also be advantageous to have an automated vehicle that can access multiple storage levels so that a storage density of the storage structure may be increased.

The foregoing aspects and other features of the disclosed embodiments are explained in the following description, taken in connection with the accompanying drawings, wherein:.

<FIG> schematically illustrates a storage and retrieval system in accordance with an aspect of the disclosed embodiment. Although the aspects of the disclosed embodiment will be described with reference to the drawings, it should be understood that the aspects of the disclosed embodiment can be embodied in many alternate forms. In addition, any suitable size, shape or type of elements or materials could be used.

In accordance with aspects of the disclosed embodiment the storage and retrieval system <NUM> operates in, for example, a retail distribution center or warehouse to, for example, fulfill orders received from retail stores for case units such as those described in <CIT> and <CIT> entitled "Storage and Retrieval System" (<CIT>).

The storage and retrieval system <NUM> may include infeed and out-feed transfer stations <NUM>, <NUM>, input and output vertical lifts 150A, 150B (generally referred to as lifts <NUM>), a storage structure <NUM>, and a number of autonomous rovers or autonomous transport vehicle <NUM> (which may also be referred to as bots). The storage structure <NUM> include, for example, multiple levels of storage rack modules where each level includes respective storage or picking aisles 130A, and transfer decks 130B for transferring case units between any of the storage areas of the storage structure <NUM> and any shelf of the lifts <NUM>. The storage aisles 130A, and transfer decks 130B are also configured to allow the rovers <NUM> to traverse the storage aisles 130A and transfer decks 130B for placing case units into picking stock and to retrieve ordered case units.

The rovers <NUM> are any suitable autonomous vehicles capable of, for example, carrying and transferring case units throughout the storage and retrieval system <NUM>. The rovers <NUM> are configured to place case units, such as the above described retail merchandise, into picking stock in the one or more levels of the storage structure <NUM> and then selectively retrieve ordered case units for shipping the ordered case units to, for example, a store or other suitable location.

The rovers <NUM> and other suitable features of the storage and retrieval system <NUM> are controlled by, for example, one or more central system control computers (e.g. control server) <NUM> through, for example, any suitable network <NUM>. In one aspect, the network <NUM> is a wired network, a wireless network or a combination of a wireless and wired network using any suitable type and/or number of communication protocols. In one aspect, the control server <NUM> includes a collection of substantially concurrently running programs that are configured to manage the storage and retrieval system <NUM> including, for exemplary purposes only, controlling, scheduling, and monitoring the activities of all active system components, managing inventory and pickfaces, and interfacing with the warehouse management system <NUM>.

Referring now to <FIG> the rover <NUM> includes a frame 110F having a first end 110E1 and a second end 110E2 longitudinally spaced from the first end 110E1. The frame 110F forms a payload bed <NUM> configured to support a pickface <NUM> within the payload bed <NUM> in any suitable manner. In one aspect laterally arranged rollers (not shown) support the pickface and allow the pickface <NUM> to move in the longitudinal direction within the payload bed, while in other aspects, the payload bed has any suitable support surface(s) for supporting the pickface <NUM> within the payload bed such as those described herein. In still other aspects the end effector 200E supports the pickface <NUM> within the payload bed <NUM>. The rover <NUM> includes any suitable controller 110C (<FIG>) that is connected to one or more drive sections of the rover <NUM> for controlling movement of the rover <NUM> through the storage and retrieval system, the end effector 200E and any other suitable movable components of the rover. It is noted that a "pickface" as used herein is, for example, one or more merchandise case units placed one behind the other, side by side, or a combination thereof. Suitable examples of rovers <NUM> that may incorporate aspects of the disclosed embodiment are those described in <CIT>; and <CIT> entitled "Automated Storage and Retrieval System"; <CIT> (<CIT>); <CIT> (<CIT>); <CIT> (<CIT>); <CIT> (<CIT>); <CIT> (<CIT>); <CIT> (<CIT>).

Still referring to <FIG>, <FIG> and also to <FIG>, the rover <NUM> includes any suitable end effector 200E movably connected to the frame 110F for transferring the pickface <NUM> to and from the payload bed <NUM>. In one aspect the end effector includes telescopic arms 220A, 220B that are configured to straddle opposing sides of pickfaces <NUM> and handle the pickfaces <NUM> by lifting and supporting each pickface by, for example, its base (e.g. from underneath) with any suitable number of fingers or pickface support members <NUM>. As will be described below, in one aspect the fingers <NUM> are static (e.g. fixed) relative to their respective arms 220A, 220B while in other aspects (as will be described below), the fingers <NUM> are actuated (e.g. movable) relative to their respective arms 220A, 220B. Each arm has any suitable number of telescoping members to provide any suitable extension or reach of the end effector 200E into a storage space of the storage shelves. For example, at least telescoping member <NUM> is slidably coupled to another telescoping member <NUM> along an axis of extension <NUM> of the end effector for telescopic extension and retraction of each arm 220A, 220B of the end effector. Each arm is suitably mounted to the frame 110F in any suitable manner. For example, in one aspect any suitable number of guides <NUM>, such as rails or tracks, are mounted to the frame 110F in any suitable manner. The rails are mounted to or adjacent to each longitudinal side of the payload bed <NUM> so that each guide <NUM> extends laterally relative to the frame 110F. One or more telescoping members <NUM>, <NUM> are slidably mounted to the guide <NUM> so that the one or more telescoping members <NUM>, <NUM> extends laterally in the direction of arrow <NUM> for transferring pickfaces <NUM> to and from the payload bed <NUM>. It is noted that while the end effector 200E is illustrated as extended only from one lateral side of the rover <NUM> in other aspects the end effector 200E is configured to extend from either lateral side 110S1, 110S2 (<FIG>) of the rover. In one aspect a first telescoping member <NUM> is slidably mounted to the guide <NUM> in any suitable manner such as, for example, with guide rollers or sliders that engage suitable tracks on the guide <NUM>. The first telescoping member <NUM> of the arms 220A, 220B includes a guide <NUM> for movably mounting a second telescoping member <NUM> to the first telescoping member <NUM> in a manner substantially similar to that described above with respect to guide <NUM>. Although two telescoping members are illustrated in the figures it should be understood that in other aspects any suitable number of telescoping members are, for example, serially mounted to each other for extension and retraction in a manner substantially similar to that described above. As may be realized the distal most serially mounted telescoping member of each arm 220A, 220B (e.g. when extended each arm 220A, 220B has a proximate end closest to the frame 110F and a distal end furthest from the frame 110F), which in this case is the second telescoping member <NUM>, includes the fingers <NUM>, while in other aspects any suitable telescoping member of the arm includes fingers <NUM>.

Each of the telescoping members <NUM>, <NUM> has any suitable cross section so that at least one of the telescoping members <NUM>, <NUM> is capable of extending in the space SP (<FIG>) between adjacent pickfaces <NUM> arranged on a storage shelf <NUM>. In one aspect a height H of each telescoping member <NUM>, <NUM> may be substantially larger than a width W of the telescoping member to stiffen the arm 220A, 220B (e.g. to minimize sagging of the arms when extended and to allow greater payload capacity of the arms) which, for example, also facilitates deep storage (e.g. where one or more merchandise case units placed one behind the other). Dual-sided picking is also possible, since the arms 220A, 220B are located at the front 200F and rear 200R of the payload bed <NUM> (it is noted that front and rear are used here for exemplary purposes only and that in other aspects any suitable spatial identifiers may be used to reference the longitudinal sides of the payload bed <NUM>) so as to straddle opposing sides of the pickfaces.

Referring now to <FIG> the distal most telescoping member of each arm 220A, 220B, which in this aspect is the second telescoping member <NUM>, includes surface <NUM> such that the fingers <NUM> extend from the surface <NUM> towards a centerline CL of the payload bed <NUM>. As may be realized, the fingers <NUM> of each arm oppose one another for extending underneath a pickface. As may also be realized, the fingers <NUM> have any suitable length L such that at least one of the telescoping members <NUM>, <NUM> and the fingers <NUM> are able to be extended in the space SP (<FIG>) between pickfaces <NUM>. In this aspect the fingers <NUM> are fixed relative to the distal most telescoping member (e.g. the fingers are incapable of movement relative to the second telescoping member). However, in other aspects, as can be seen in <FIG> the fingers <NUM>', <NUM>" are, for example, movable relative to the distal most telescoping member <NUM>'. For example, in one aspect fingers <NUM>' are rotatably mounted to the distal most telescoping member <NUM>' such that they are movable between retracted and extended positions. In the retracted position the fingers <NUM>' are, for example, substantially parallel with the surface <NUM> while in the extended position the fingers <NUM>' are, for example, substantially perpendicular to (or arranged at any other suitable angle relative to) the surface <NUM> for extending underneath one or more pickfaces <NUM>. In this aspect the fingers <NUM>' are each be rotatable about a respective axis of rotation <NUM> that extends substantially perpendicular to a direction of extension and retraction <NUM> (<FIG>) of the end effector 200E. In another aspect, the fingers <NUM>" are, for example, rotatable about an axis of rotation <NUM> that is substantially parallel with the direction of extension and retraction <NUM> of the end effector 200E. For example, as can be seen in <FIG> the fingers <NUM>" are movable between retracted and extended positions. In the retracted position the fingers <NUM>" are folded into or adjacent the surface <NUM> so as to be substantially parallel with the surface <NUM>. In the extended position the fingers <NUM>" are unfolded so as to be substantially perpendicular to the surface <NUM> for extending underneath one or more pickfaces <NUM>. In still other aspects the fingers are movable relative to the distal most telescoping member in any suitable manner so as to move between a retracted and extended position.

Referring now to <FIG> and <FIG>, the opposing arrangement of the fingers <NUM> is, for example, such that when the arms 220A, 220B are extended into the storage shelf <NUM> the fingers are located between support surfaces <NUM> of the storage shelf <NUM>. For example, in one aspect the storage shelf <NUM> includes spaced apart support surfaces <NUM> that extend in a direction <NUM> (<FIG>) that is substantially perpendicular to (e.g. transverse) the direction of extension and retraction <NUM> of the end effector 200E. For example, a pitch P1 (<FIG>) between support surfaces <NUM> is, for example, substantially similar to a pitch P2 (<FIG>) between the fingers <NUM> so that when inserted into the storage shelf <NUM> the fingers <NUM> are interleaved with the shelf structure (e.g. the support surfaces <NUM>) in a direction transverse to the extension axis <NUM> of the end effector 200E, while in other aspects the spacing between the fingers is any suitable spacing that allows the fingers to pass through the openings between the support surfaces.

Referring again to <FIG> the rover <NUM> has a drive section <NUM> that includes any suitable number of drives. For example, the drive section <NUM> includes one or more end effector drives 260A, 260B, 260C configured to move the end effector in extension/retraction along axis <NUM>, move one or more of the arms 220A, 220B so that the arms are moved together and apart in the direction of arrow <NUM> towards and away from the payload bed centerline CL (see also <FIG>), move the arms so that the arms 220A, 220B are moved together as a unit in the direction of arrow <NUM> relative to the payload bed centerline CL (e.g. for a justification of pickfaces <NUM> relative to the payload bed <NUM> and/or a storage area) and lift/lower the arms in a direction <NUM> substantially perpendicular to the axis of extension and retraction (e.g. direction) <NUM> of the end effector 200E. In one aspect, traversal of each transfer arm 220A, 220B is in a plane substantially parallel with a pickface support plane of the payload bed/area to effect a full payload area justification (e.g. a justification of the payload anywhere in within the payload bed and anywhere within a storage shelf area that is accessible by the arms 220A, 220B) of the at least one pickface independent of a size of the at least one pickface. Referring also to <FIG>, in one aspect an end effector extension/retraction drive 260A (e.g. that moves the arms 220A, 220B in the direction of arrow <NUM>) includes any suitable belt transmission <NUM> for extending and retracting each arm 220A, 220B of the rover <NUM>. Each telescoping member <NUM>, <NUM> (see also <FIG>) includes any suitable belt and pulley arrangement 400P1, 400P2, 400P3, 400B1, 400B2 configured to extend a respective telescoping member <NUM>, <NUM> in series (e.g. one of telescoping members <NUM>, <NUM> extends a predetermined distance/reach in a first stage of extension and then the other one of the telescoping members extends a predetermined distance/reach in a second stage of extension so that the telescoping members <NUM>, <NUM> move together as a unit in the first stage of extension and only one of the telescoping members <NUM>, <NUM> moves in the second stage of extension). In other aspects the belt and pulley arrangement 400P1, 400P2, 400P3, 400B1, 400B2 are, for example, configured to extend their respective telescoping members <NUM>, <NUM> substantially simultaneously (e.g. as telescoping member <NUM> extends a predetermined distance/reach the telescoping member <NUM> also extends a corresponding predetermined distance/reach so that telescoping member <NUM> moves relative to the payload bed <NUM> and the telescoping member <NUM> moves relative to both the telescoping member <NUM> and the payload bed <NUM>). As may be realized retraction of the arms 220A, 220B occurs in a substantially reverse manner to that described above. In other aspects any suitable drive linkage is used to extend and retract the arms 220A, 220B such as, for example, a ball and screw arrangement, chains, hydraulic or pneumatic actuators, electric actuators, magnetic drives, etc. Similarly, an arm gripping drive 260B (e.g. that moves one or more of the arms in the direction of <NUM>) and an end effector lift drive 260C (e.g. that moves the arms 220A, 220B in the direction of arrow <NUM>) have any suitable configuration and include any suitable transmissions for driving the arms such as those transmissions described above. As may be realized, in one aspect the arm gripping drive 260B includes one or more drives 260B1, 260B2 for moving one or more of the arms 220A, 220B as described herein. In one aspect the gripping drive 260B includes a single drive motor 260B1 coupled to one or both of the arms 220A, 220B so as to move one arm 220A, 220B relative to the other arm 220A, 220B (e.g. one of the arms 220A, 220B is stationary while the other arm 220A, 220B moves or both arms move so that the movement of one arm is coupled to movement of the other arm so as to be driven towards and away from each other by a common drive motor in a manner similar to that described below). In other aspects, the gripping drive 260B includes at least two drives 260B1, 260B2 where each arm 220A, 220B is driven by a respective drive motor 260B1, 260B1 so as to move independently of the other arm 220A, 220B. As may be realized, the independent movement of each arm allows not only for the gripping of pickfaces <NUM> but also for the movement of the pickface <NUM> in the direction of arrow <NUM> to effect justification of the pickface <NUM> in the direction of arrow <NUM> relative to, for example, a storage space or other pickface holding location. In still other aspects the arms 220A, 220B are movable in the direction of arrow <NUM> in any suitable manner by any suitable number of drive motors.

As noted above, the storage shelves <NUM> are, for example, configured to allow the fingers <NUM> of the arms 220A, 220B to pass through the shelves <NUM> so that the fingers <NUM> are positioned bellow the support surfaces <NUM> of the shelves <NUM>. In one aspect the storage shelf <NUM> is a wire shelf such that the support surfaces <NUM> are formed by the wires of the shelf. The wire shelves <NUM> have any suitable configuration such as a wire mesh configuration where the upper members of the wire shelves form the support surfaces <NUM> and are oriented and aligned with a direction <NUM> substantially transverse to a direction <NUM> in which the pickfaces are transferred to and from the shelves <NUM>. The wire shelves <NUM> are secured to the storage rack structure (e.g. such as horizontal supports <NUM>) and/or the picking aisle deck / rails in any suitable manner. In one aspect the wire shelves <NUM> wrap around the storage rack structure and/or the picking aisle deck / rails so that the wire shelves <NUM> are removably fixed to the storage rack structure and/or the picking aisle deck / rails substantially without fasteners or other fixing methods (e.g. adhesives, welding, etc.). In other aspects the wire shelves <NUM> are removably fixed to the storage rack structure and/or the picking aisle deck / rails with any removable fasteners. In other aspects the shelves <NUM> may not be removable.

In other aspects the storage shelf <NUM>' is substantially similar to that described in <CIT>. For example, referring to <FIG> each storage shelf <NUM>' includes one or more support legs 280L1, 280L2 extending from, for example, horizontal supports <NUM> of the storage shelf <NUM>'. The support legs 280L1, 820L2 have any suitable configuration and may be part of, for example, a substantially U-shaped channel <NUM> such that the legs are connected to each other through channel portion 280B. The channel portion 280B provides an attachment point between the channel <NUM> and one or more horizontal supports <NUM>. In other aspects, each support leg 280L1, 280L2 is configured to individually mount to the horizontal supports <NUM>. In this aspect, each support leg 280L1, 280L2 includes a bent portion 280H1, 280H2 having a suitable support surface <NUM> area configured to support pickfaces stored on the shelf <NUM>'. The bent portions 280H1, 280H2 is, for example, configured to substantially prevent deformation of the pickfaces stored on the shelf. In other aspects the leg portions 280H1, 280H2 have a suitable thickness or have any other suitable shape and/or configuration for supporting case units stored on the shelves. As can be seen in <FIG>, the support legs 280L1, 280L2 or channels <NUM> may form a slatted or corrugated shelf structure where spaces SP2 between, for example, the support legs 280L1, 280L2 allow for fingers <NUM> of the end effector 200E to reach into the shelving for transferring pickfaces to and from the shelf as will be described below.

As may be realized the storage shelves described herein, are in one aspect, substantially flat allowing for an increased storage density of the storage and retrieval system <NUM> while reducing structural costs of the storage and retrieval system <NUM>.

As described above, the storage shelves 140A, 140B, 140C (substantially similar to storage shelves <NUM>, <NUM>') may be stacked one above the other as shown in <FIG> so that multiple storage shelves are accessible from a single picking aisle deck 130AD. Here there are two storage shelves 140A, 140B stacked one above the other and accessible from a single picking aisle deck 130AD. In other aspects there are more than two stacked storage shelves that are accessible from a single picking aisle deck 130AD. In one aspect the end effector lift drive 260C is configured to provide travel of the end effector between multiple storage levels of the storage and retrieval system. For example, referring to <FIG>, <FIG> the storage shelves <NUM> allow for a reduction in the number of picking aisles 130A (<FIG>) which will allow for a reduced transfer deck 130B (<FIG>) size, and a reduced deck (e.g. both the transfer deck 130B and the picking aisle deck 130AD) by providing multi-level storage per picking aisle deck 130AD. The configuration of the shelves <NUM> also allows for an increase in horizontal and vertical case density while positioning/registering the case units or pickfaces with the arms 220A, 220B may allow for moving the pickfaces closer together (e.g. reducing pickface spacing as described above). As noted above, the spacing between the case units or pickfaces allows space for the arms 220A, 220B to be inserted between adjacent case units or pickfaces to transfer the case unit(s) or pickface to and from the storage shelf <NUM>.

Still referring to <FIG>, and as noted above, the rover 110A may be configured to access stacked storage shelves 140A, 140B from a single picking aisle deck 130AD. For exemplary purposes only, in this aspect each picking aisle deck 130AD provides access to two levels of storage 140A, 140B but in other aspects each picking aisle may provide access to more than two levels of storage. It is noted that the level of storage accessed by each picking aisle may vary from one picking aisle deck to another picking aisle deck (e.g. one deck may provide access to a first number of storage levels while another deck may provide access to a second number storage levels where the second number is different than the first number). As noted above, the rover <NUM> may include end effector lift drive 260C (<FIG>) that lifts or lower the arms 220A, 220B to a predetermined height corresponding to a storage level from or to which a case unit or pickface is to be picked or placed in a manner substantially similar to that described herein. The end effector lift drive 260C is any suitable drive section configured to raise and lower the arms 220A, 220B such as, for example, a linear actuator, a screw drive, scissor lift <NUM> (<FIG>), a magnetic drive, etc..

Referring now to <FIG>, <FIG> and <FIG> a pickface <NUM> picking operation will be described. The rover <NUM> receives a command from, for example, any suitable controller such as control server <NUM> (<FIG>) to transfer a pickface. The rover travels along the transfer deck 130B to a predetermined picking aisle 130A. The rover <NUM> enters the picking aisle 130A and stops at a predetermined storage location. (<FIG>, Block <NUM>). As noted above, the rover <NUM> includes end effector 200E having arms 220A, 220B that are configured to straddle and interface with opposing sides 210S1, 210S2 of the pickface <NUM> and to transfer the pickface <NUM> to and from the payload bed <NUM>. As may be realized, when the arms 220A, 220B are retracted within the payload bed <NUM> and the rover <NUM> is not carrying a pickface, the arms 220A, 220B are separated by a distance D1 that is substantially larger than a width W of the widest pickface the rover is capable of carrying and/or that is stored in the storage and retrieval system <NUM>. The rover controller 110C operates the end effector drive section <NUM> to longitudinally move one or more of the arms 220A, 220B to align the arms 220A, 220B with the storage location according to, for example, the width W of the pickface <NUM> (<FIG>). In one aspect, the rover <NUM> includes any suitable sensors (as will be described below) configured to detect the sides 210S1, 210S2 of the pickface (s) located on the storage shelves <NUM> as the rover moves along the picking aisle(s) 130A (<FIG>). In other aspects the pickfaces <NUM> are positioned on the storage shelves <NUM> relative to predetermined features of the storage shelves such that the sensors may detect the predetermined features of the storage shelves to determine the locations of the pickface (and the pickface sides). In one aspect, the case sensors are substantially similar to those described in <CIT> (<CIT>) and <CIT> entitled "Storage and Retrieval System Case Unit Detection," The rover <NUM> moves one or more of the arms 220A, 220B to adjust the distance D1 between the arms 220A, 220B so that when extended the arms 220A, 220B are positioned within the spaces SP (<FIG>) on either side of the pickface <NUM> to be transferred to the payload bed <NUM>. As described above, in one aspect the rover <NUM> includes justification in the direction of arrow <NUM>, the telescoping arms of the rover are moved as a unit in the direction of arrow <NUM> to further align the arms with the pickface upon picking the pickface from a holding location (or to align the pickface with a holding location upon placement of the pickface at a holding location), e.g. fine positioning of the telescoping arms relative to a pickface holding location (<FIG>, Block 501A). The rover <NUM> controller 110C (<FIG>) commands the drives 260A, 260C to raise the arms 220A, 220B to a level substantially equal to or above the support surface <NUM> of the pickface holding location and extend the arms 220A, 220B a predetermined distance into the storage shelf <NUM> so that the fingers <NUM> are substantially aligned with the pickface(s) <NUM> and so that the fingers are positioned in the spaces SP2 between the shelf support surfaces <NUM> (<FIG>, Block <NUM>). In one aspect the arms 220A, 220B are moved in direction <NUM> independent of a support surface of the payload bed <NUM> while in other aspects the support surface of the payload bed also are configured move (either by the drive 260C or with a payload bed lift drive) in direction <NUM> so that the payload bed support surface is adjacent the support surface <NUM> from which the pickface is to be transferred from/to in a manner substantially similar to that described in <CIT>. In one aspect, any suitable sensor <NUM> provides feedback to the controller 110C for determining how deep the arms 220A, 220B are extended into the storage location and to determine the leading and trailing edge boundaries (with respect to the direction of extension of the arms 220A, 220B) of the pickface (as will be described below with respect to the justification of the pickface). The arms 220A, 220B are lowered with drive 260C so that the fingers are positioned a predetermined distance D2 below the shelf support surface <NUM> (<FIG>, Block <NUM>). One or more of the arms 220A, 220B are moved in the direction of arrow <NUM> with drive 260B towards the sides 210S1, 210S2 of the pickface <NUM> so that the surface <NUM> of, for example, telescoping member <NUM> lightly grips the pickface (e.g. where lightly grip means touching the pickface for alignment of the pickface such that the touching does not provide enough grip to hold the pickface for lifting the pickface off the storage shelf) and the fingers <NUM> are located beneath the pickface <NUM> (<FIG>, Block <NUM>). In other aspects the surfaces <NUM> may provide sufficient grip for lifting the pickface. The pickface <NUM> may be lifted in the direction of arrow <NUM> any suitable distance D3 from the storage shelf <NUM> by lifting the arms 220A, 220B using drive 260C so that the fingers <NUM> are raised to contact bottom 210B (<FIG>) of the pickface (e.g. the pickface may slide along the surface <NUM> to allow contact between the fingers <NUM> and the bottom 210B of the pickface) (<FIG>, Block <NUM>) for supporting the weight of the pickface. The arms 220A, 220B may be retracted in the direction of arrow <NUM> so that the pickface is located above the payload bed <NUM> (<FIG>, Block <NUM>) and the pickface <NUM> may be lowered in the direction of arrow <NUM> into the payload bed <NUM> (<FIG>, Block <NUM>). When located within the payload bed the pickface <NUM> is, in one aspect, supported by the fingers and/or by any suitable support surface of the payload bed <NUM>. As may be realized, the surfaces <NUM> are, in one aspect, employed to justify the pickface (<FIG>, Block <NUM>) within the payload bed (e.g. locate the pickface at a predetermined position relative to one or more reference datums of the payload bed) in any suitable manner such as that described below where one or more of the arms 220A, 220B are moved in the direction of arrow <NUM> for justification of the pickface.

During transport of the pickface <NUM>, the pickface is, in one aspect, held or clamped by the surfaces <NUM> of the arms 220A, 220B or any other suitable alignment / gripping surfaces of the rover. To place the pickface <NUM> into any suitable pickface holding location the rover <NUM> may be positioned at a predetermined location relative to the pickface holding location. In one aspect, where the pickface <NUM> is justified, the pickface <NUM> is moved by the arms 220A, 220B in the direction of arrow <NUM> within the payload bed <NUM> to align the pickface <NUM> with the pickface holding location. In other aspects the positioning of the rover <NUM> effects alignment of the pickface <NUM> with the pickface holding location. The arms 220A, 220B raise the pickface to a level substantially equal to or above the support surface <NUM> of the pickface holding location and the arms transfer the pickface <NUM> onto the support surface <NUM> of the pickface holding location in a manner substantially opposite to that described above for transferring the pickface onto the payload bed <NUM>. As may be realized, while transfer of payload to and from the rover <NUM> is described with respect to pickface <NUM> it should be understood that the above-description also applies to transfer of individual case units to and from the rover <NUM>. In addition, while reference is made to the storage shelf <NUM>, <NUM>', 140A, 140B it should be understood that the rover may transfer a case unit and/or a pickface formed of case units to any suitable pickface holding location such as the storage shelves <NUM>, <NUM>', 140A, 140B, a shelf of a lift 150A, 150B or any other suitable location.

Referring again to <FIG>, <FIG> and <FIG> an exemplary pickface building operation of the rover <NUM> will be described. The rover <NUM> is positioned to transfer one or more first pickfaces <NUM> from a shelf to the rover <NUM> in a manner substantially similar to that described above (<FIG>, Block <NUM>). A spacing D1 between the arms 220A, 220B is adjusted in the direction of arrow <NUM> to align the arms 220A, 220B with the one or more first pickfaces <NUM> (so as to fit in the space SP between adjacent case units/pickfaces) as illustrated in <FIG> (<FIG>, Block <NUM>). As described above, in one aspect the rover <NUM> includes justification in the direction of arrow <NUM>, the telescoping arms of the rover are moved as a unit in the direction of arrow <NUM> to further align the telescoping arms 220A, 220B with the one or more first pickfaces <NUM>, e.g. fine positioning of the telescoping arms relative to a pickface holding location (<FIG>, Block 8001A). The telescopic arms 220A, 220B are extended and retracted in the direction of arrows 299A, 299B to transfer the one or more first pickfaces <NUM> to the payload bay (<FIG>, Block <NUM>) in the manner described above with respect to Blocks <NUM>-<NUM> of <FIG>. Once the one or more first pickfaces <NUM> are positioned within the payload bed <NUM> the rover <NUM> traverses the picking structure and is positioned relative to another pickface holding location (<FIG>, Block <NUM>) for the transfer of one or more second pickfaces 210X (<FIG>) to the payload bay <NUM>. The one or more first pickfaces <NUM> within the payload bay are unclamped and the spacing between the telescoping arms 220A, 220B are adjusted (<FIG>, Block <NUM>) and/or justified (<FIG>, Block 8001A) so as to align the telescoping arms 220A, 220B with the one or more second pickfaces 210X in the other pickface holding location. As may be realized, the one or more first pickfaces <NUM> already held on the payload bed <NUM> are moved with the telescoping arms 220A, 220B in the direction of arrow <NUM> as the telescoping arms are justified. The telescopic arms 220A, 220B are extended and retracted in the direction of arrows 299A, 299B to transfer the one or more second pickfaces 210X to the payload bay (<FIG>, Block <NUM>) in the manner described above with respect to Blocks <NUM>-<NUM> of <FIG>. As may be realized, during the transfer of the one or more second pickfaces into the payload bay <NUM> the telescoping arms 220A, 220B may be spaced from the sides of the one or more first pickfaces <NUM> so that the fingers <NUM> do not contact the one or more first pickfaces in the payload bay <NUM> (and/or referring <FIG> one or more of the fingers <NUM>', <NUM>" are positioned, e.g. retracted, so as to not contact the pickface <NUM> in the payload bay <NUM>). In other aspects the fingers <NUM> furthest from the free ends FE (<FIG>) of the arms 220A, 220B are longer than the fingers <NUM> adjacent the free ends FE so that the one or more first pickfaces <NUM> are held by the arms 220A, 220B during picking of the one or more second pickfaces 210X while still allowing the arms 220A, 220B to be spaced apart so as to straddle the one or more second pickfaces 210X without contact as the arms 220A, 220B are extended into the holding location. The one or more first and second pickfaces <NUM>, 210X are transferred as a unit by the rover <NUM> and placed at a pickface holding location as a unit (or at more than one pickface holding location separately) in a manner substantially opposite to that described above with respect to transfer of the pickfaces <NUM>, 210X into the payload bed <NUM>.

In one aspect, as noted above, the rover <NUM> include justification features such as those described in <CIT> entitled "Automated Storage and Retrieval System". For example, in one aspect, the rover <NUM> includes active side justification (where, as noted above, one arm 220A, 220B is fixed and the other arm 220A, 220B is movable in direction <NUM> or where both arms 220A, 220B are movable in direction <NUM>). Suitable sensors <NUM> for physical confirmation of case boundaries (<FIG>) may also be located adjacent to or within the payload bed <NUM> and/or on one or more of the arms 220A, 220B. In one aspect the sensors <NUM> are beam line or curtain sensors disposed on the arms 220A, 220B of the rover. The sensors <NUM> allow the rover to, on placing pickfaces, confirm empty and adequate space exists on any suitable pickface holding location, such as for example a storage shelf <NUM>, <NUM>', 140A, 140B for a pickface and to confirm that the pickface is placed with the correct setback (e.g. the distance the pickface is located from a picking aisle edge of the pickface holding location or any other suitable reference datum). On picking pickfaces <NUM> from a storage location the sensors <NUM> allow for case targeting and confirmation of the depth to which the arms 220A, 220B are extended into the storage location. The arms 220A, 220B also, in one aspect, provide guidance for pickfaces being placed in deep storage locations (e.g. at storage locations that are distant from an edge of, e.g., the storage shelf <NUM>).

Where justification of the pickfaces is provided, the payload bed <NUM> of the rover <NUM> is, in one aspect, configured to allow multi-degree of freedom sliding movement of the pickface <NUM> (and the case units forming the pickface) along the surface of the payload bed <NUM>. In one aspect the payload bed is a substantially flat surface constructed of any suitable material having a low coefficient of friction, while in other aspects the payload bed include a plurality of ball bearings on which the pickface rides, while in still other aspects the payload bed <NUM> has any suitable construction, such as that describe above, that allows for the multi-degree of freedom sliding movement of the pickface <NUM> (and the case units forming the pickface) along the surface of the payload bed <NUM>. In other aspects the pickface is justified while being held above the payload bed surface by the fingers <NUM>.

As noted above, referring to <FIG>, in one aspect, the rover <NUM> includes any suitable sensors for detecting the position of the pickface(s) <NUM> located on the storage shelves <NUM>. In one aspect of the disclosed embodiment, the rover includes one or more beam sensors <NUM>, <NUM> and/or proximity sensors <NUM>, <NUM> that may be positioned on the frame 110F of the rover <NUM> below the payload bed <NUM> to sense predetermined features or targets <NUM>, <NUM>, <NUM> (e.g. slots, protrusions, etc.) disposed on or in horizontal supports <NUM> of the storage shelf <NUM>. For example, the sensors <NUM>, <NUM>, <NUM>, <NUM> are positioned, for example, to sense the targets <NUM>, <NUM>, <NUM> on the horizontal supports <NUM> so that as each target <NUM>, <NUM>, <NUM> is sensed by a respective sensor <NUM>, <NUM>, <NUM>, <NUM> that sensor produces an on/off signal for determining a position of the rover in a manner substantially similar to that described in <CIT>. As may be realized, the rover has sensors <NUM>, <NUM> on both lateral sides of the rover 110S1, 110S2 so that the sensors <NUM>, <NUM>, <NUM>, <NUM> may detect the targets <NUM>, <NUM>, <NUM> regardless of the travel orientation of the rover where the targets <NUM>, <NUM>, <NUM> are located on but one horizontal support <NUM> in the picking aisle 130A. As may be realized, where the sensors are to detect the pickfaces <NUM> located on the storage shelf <NUM> rather than the targets the sensors are located on the rover at any suitable height for detecting the pickfaces <NUM>. In one aspect the beam sensors <NUM>, <NUM> and one or more proximity sensors <NUM>, <NUM> are used in conjunction with each other for determining a position of the rover within the storage structure. In one aspect the proximity sensors <NUM>, <NUM> is used to determine a location of the rover within the picking aisle 130A while the beam sensors <NUM>, <NUM> is used to determine a location of the rover in an area between the targets <NUM>, <NUM>, <NUM> for aligning the arms 220A, 220B of the rover <NUM> with the spaces SP between the pickfaces <NUM> for transferring pickfaces <NUM> between the rover <NUM> and the storage shelf <NUM>, while in other aspects the beam sensors <NUM>, <NUM> and proximity sensors <NUM>, <NUM> are used in any suitable manner for determining a location of the rover within the storage structure and for transferring pickfaces between the rover <NUM> and the storage shelves <NUM>.

Referring now to <FIG> a rover <NUM> is illustrated in accordance with an aspect of the disclosed embodiment. The rover <NUM> is substantially similar to that described above except where noted. Here the rover <NUM> includes a frame 110F having a first end 110E1 and a second end 110E2 longitudinally spaced from the first end 110E1. The frame 110F forms a payload area 200A in which a Cartesian telescopic manipulator 800E is mounted. The manipulator 800E, as will be described below, is configured to handle pickfaces <NUM> (<FIG>) of variable length and width by, for example pushing or pulling the pickfaces <NUM> between any suitable storage shelf and a payload bay of the rover <NUM>. In one aspect the storage shelf may be substantially similar to storage shelf <NUM> (<FIG>) described above while in other aspects the storage shelf may include a substantially flat pickface support surface or a slatted pickface support surface rather than a wire rack pickface support surface.

In this aspect the manipulator 800E includes a drive section having at least a three degree of freedom drive (as will be described below), one or more telescoping arms 802A, 802B (e.g. generally end effector <NUM>), a payload bay <NUM> and at least one mast assembly or member 801A, 801B. In one aspect the payload bay <NUM> is suspended between two mast assemblies or members 801A, 801B which are mounted to the payload area 200A of the frame 110F while in other aspects the payload bay <NUM> may be cantilevered from a single mast member (such as one of mast members 801A, 801B). The mast members 801A, 801B, as will be described in greater detail below, include guides for effecting movement of the payload bay <NUM> in the direction of arrow <NUM> (e.g. vertically relative to a surface on which the rover travels). The end effector <NUM> is mounted at least partly within the payload bay <NUM> so as to extend and retract in the direction of arrow <NUM> so as to reach/extend outside of the payload bay <NUM> for transferring pickfaces <NUM> between the payload bay <NUM> and a shelf <NUM>. Here the end effector <NUM> includes two telescoping arms 802A, 802B disposed substantially at opposite sides (e.g. in the direction of arrow <NUM>) of the payload bay <NUM>. The telescoping arms 802A, 802B are mounted at least partly within the payload bay <NUM> so as to be movable towards and away from each other within the payload bay in the direction of arrow <NUM>. As may be realized, the payload pay <NUM> is configured to support a pickface <NUM> within the payload bed <NUM> in any suitable manner such as on a substantially flat surface or plate <NUM>.

Referring now to <FIG>, in one aspect the mast members 801A, 801B (generally referred to as mast member <NUM>) have substantially the same configuration while in other aspects the mast members 801A, 801B may each have any suitable configuration. Here each mast member <NUM> includes a frame 801F, a carriage <NUM> and a drive <NUM> (e.g. a vertical drive). The frame 801F forms two opposing channels 801C disposed on opposite vertical sides of the frame 801F. The carriage <NUM> extends between and is mounted within the channels 801C so as to move vertically in the direction of arrow <NUM>. For example, referring also to <FIG>, the carriage <NUM> includes guide wheel members or assemblies <NUM> mounted at opposite ends 803E1, 803E2 of the carriage <NUM>. Each guide wheel member includes one or more guide wheels 803R1A, 803R1B, 803R2 that engage one or more sides of a respective channel 801C. For example, each guide member <NUM> includes guide wheels 803R1A, 803R1B, 803R2 that stabilize the carriage in one or more of directions <NUM>, <NUM>. Here, as can also be seen in <FIG>, each guide member <NUM> includes one or more guide wheels 803R1A, 803R1B that engage opposite sides 801CS1, 803CS2 of a common channel 801C (e.g. wheel 803R1A engages side 803CS2 while wheel 803R1B engages side 803CS1 or vice versa) so as to stabilize movement of the carriage <NUM> in the direction of arrow <NUM> and one or more guide wheels 803R2 that engages the other side of the channel 801C (spanning between the opposite sides) for stabilizing movement of the carriage <NUM> in the direction of arrow <NUM>. As may be realized, the guide wheel members <NUM> are mirror images of one another so that the uppermost (e.g. in the vertical direction of arrow <NUM>) wheels 803R1A (at end 803E2), 803R1B (at end 803E1) engage opposite sides of the respective channels and the lowermost wheels 803R1B (at end 803E2), 803R1A (at end 803E1) engage opposite sides of the respective channels so as to substantially eliminate torsional movement TM1 of the carriage within the channels 801C about an axis extending in the direction of arrow <NUM>. Torsional movement TM2 of the carriage <NUM> about an axis extending in the direction of arrow <NUM> is substantially eliminated with a wire rope reeving that includes wires 803W1, 803W2 and pulleys 803P1, 803P2, where the pulleys 803Pa, 803P2 are mounted to the carriage <NUM> and ends 803WE of wires 803W1, 803W2 are anchored to, for example a respective mast member <NUM>. As can be seen in <FIG>, the wire rope reeving is arranged so that the wire ropes 802W1, 803W2 pass through the pulleys so as to cross and exit the reeving at an opposite side and/or end of the frame 803F. For example, wire rope 803W1 enters the frame at end 803E2, engages pulley 803P1, travels along a length of the frame, engages pulley 803P2 and then exits the frame from the opposite side at opposite end 803E1. Similarly, wire rope 803W2 enters the frame at end 803E1, engages pulley 803P2, travels along a length of the frame while crossing wire rope 803W1, engages pulley 803P1 and then exits the frame from the opposite side at opposite end 803E2. This crossed reeving arrangement constrains the carriage in a predetermined orientation (e.g. horizontally) for travel along the mast <NUM>.

The carriage <NUM> is driven in the direction of arrow <NUM> in any suitable manner such as by drive <NUM> (e.g. vertical drive) which includes a belt and pulley drive system but in other aspects a lead screw drive or other linear actuator drives the carriage in the direction of arrow <NUM>. The drive <NUM> includes a frame 810F that is mounted to the mast <NUM>. A drive motor 260C is mounted to the frame 810F so as to drive belt 810B with a pulley 810P2 mounted to an output shaft of the drive motor 260C. The belt 810B is wound around and guided by one or more pulleys 801P1, 801P3, 801P2, which are mounted to the frame 810F. The belt 810B is fixed to the carriage via mount 803B of the carriage <NUM> so that as the belt 810B moves the carriage <NUM> moves with the belt 810B in the direction of arrow <NUM>. As may be realized, as each mast member 801A, 801B includes a respective vertical drive, the drives <NUM> are driven by a Master-Slave control system, such as controller 110C (<FIG>) so the payload bay <NUM> suspended between the mast members 801A, 801B is kept level. The vertical positioning of the payload bay <NUM> within limits of travel defined by, for example, at least the mast members <NUM> is infinite. As may be realized, a height of the channels 801C and/or width of the frame 801F (e.g. a distance between the opposing channels 801C) are/is suitably sized depending on a travel height H and/or depth D of the payload bay <NUM>. As can be seen in <FIG>, each mast member <NUM> includes channels 801A so that the carriage <NUM> and the payload bay <NUM> can be coupled to each other so that the carriage(s) <NUM> support or otherwise carry the payload bay <NUM> (e.g. the payload bay depends from the carriage(s) <NUM>).

Referring now to <FIG> and <FIG>, the payload bay <NUM> includes a frame 200F and a pickface support surface <NUM> (not shown in <FIG>) mounted to the frame 200F. The frame 200F defines opposing channels 200C1, 200C2 in which two effector carriages 200G1, 200G2 are mounted so as to travel in the direction of arrow <NUM>. Referring also to <FIG> and <FIG> each effector carriage (generally effector carriage <NUM>) includes a frame 200GF having guide wheel carriages 200RC disposed at opposite ends 200GE1, 200GE2. Each guide wheel carriage 200RC includes one or more guide wheels 200GP1A-200GP1D configured to engage one or more walls of the channel 200C to stabilize movement of the effector carriage <NUM> from movement in the directions of arrows <NUM>, <NUM>. For example, referring to <FIG>, each guide wheel carriage 200RC includes one or more guide wheels that engages the opposing sides 200CS1, 200CS2 of a respective channel 200C so as to stabilize movement of the effector carriage <NUM> in the direction of arrow <NUM> (as well as substantially eliminate torsional movement TM3 of the effector carriage <NUM> about an axis substantially parallel with the direction <NUM>) and one or more guide wheels that engage the other wall 200CS3 of the respective channel 200C so as to stabilize movement of the effector carriage <NUM> in the direction of arrow <NUM>. Torsional movement TM4 of the effector carriage <NUM> about an axis substantially parallel with the direction of arrow <NUM> is substantially eliminated by a wire rope reeving (which is similar to that described above) in a manner substantially similar to that described above with respect to carriage <NUM> where the wire rope reeving includes wires 200W1, 200W2 and pulleys 200P1-200P4 mounted to the frame 200GF where the ends 200WE of the wires 200W1, 200W2 are secured or otherwise fixed to, for example, the frame 200F of the payload bed or any other suitable portion of the rover <NUM>. Each effector carriage also includes a drive belt coupling member 200GBA for fixing the respective effector carriage <NUM> to the drive belt 260DB. A motor 260D, mounted to the frame 200F, drives the drive belt 260DB (which is mounted to the frame 200F with pulleys 260DP1, 260DP2) to move the effector carriages 200G1, 200G2 towards and away from each other where one effector carriage 200G1 is attached to a top 260DBT of the drive belt 260DB (which loops around the pulleys 260DP1, 260DP2) and other effector carriage 200G2 is attached to a bottom 260DBB of the drive belt 260DP loop. The effector carriage 200G1, 200G2 positions are infinite between their limits of travel. The length and width of the payload bay <NUM> can be sized to support a pickface having any suitable length and width as the effector carriages 200G1, 200G2 are adjusted to accommodate various size pickfaces. As may be realized, one or more arm mounts <NUM> are affixed to each effector carriage 200G1, 200G2 so that the telescoping arms 802A, 802B are mounted to a respective one of the carriages 200G1, 200G2. The arm mounts <NUM> extend through the pickface support surface <NUM> of the payload bay <NUM> so as to travel within slots or apertures 200SA formed in the pickface support surface <NUM>. In another aspect, each effector carriage 200G1, 200G1 is movable independent of the other effector carriage in a manner similar to that described above so that a pickface(s) is justified in the direction of arrow <NUM> relative to the frame 110F and/or a pickface holding location. For example, in this aspect one of the effector carriages 200G1, 200G2 is coupled to the drive belt 260DB for movement in the direction of arrow <NUM> by motor 260D. The other effector carriage 200G1, 200G2 is coupled to a second drive belt 260DB2 (in a manner substantially similar to that described above) for movement in the direction of arrow <NUM> by a second motor 260D2 (substantially similar to motor 260D). Here each effector carriage, and hence each telescoping arm 802A, 802B, is independently movable and movable together so that a pickface can be justified in the direction of arrow <NUM> by moving one or more of the telescoping arms 802A, 802B.

Referring now to <FIG>, <FIG> and <FIG>, each of the telescoping arms 802A, 802B includes three links 802FL, 802CL, 802IL but in other aspects each telescoping arm 802A, 802B includes any suitable number of links, such as more or less than two links. Here each telescoping arm includes a fixed link 802FL mounted to the arm mounts <NUM>, a center link 802CL, and inner link 802IL. The center link 802CL is mounted to the fixed link 802FL through any suitable linear slide 802CR or other linearly movable joint so as to be movable relative to the fixed link 802FL in the direction of arrow <NUM>. The inner link 802IL is mounted to the center link 802CL through any suitable linear slide 802IR or other linearly movable joint so as to be movable relative to the center link 802CL in the direction of arrow <NUM>. A drive belt 501B is mounted on the fixed link 802FL through pulleys 501P1, 501P2 where pulley 501P1 is driven a driven pulley having a drive coupling <NUM>. A drive motor 260A is mounted to the frame 200F and is operatively coupled to one or more drive shafts 500A, 500B (two drive shafts are shown in the drawings while in other aspects more or less than two drive shafts are employed) through any suitable transmission 260AT such as, for example, a belt and pulley transmission, a gear drive transmission, a chain drive transmission or any other drive coupling. The one or more drive shafts 500A, 500B connect the motor to the drive coupling <NUM> so as to drive the pulley 501P1 and hence, the belt 501B. The center link 8012CL is coupled to the belt 501B with coupling 501C so that as the belt 501B moves the center link 802CL moves with the belt 501B in the direction of arrow <NUM>. Another drive belt 501B2 is mounted on the center link 802CL with pulleys in a manner similar to that described above with respect to belt 501B. The belt 501B2 is fixed to both the fixed link 802FL and the inner link 802IL so that as the center link 802CL is driven in the direction of arrow <NUM>, the slaved nature of the belt 501B2 causes relative movement between the inner link 802IL and the center link 802CL so that the inner link 802IL also moves in the direction of arrow <NUM> and the links 802FL, 802CL, 802IL extend in a telescoping manner.

According to the invention a pickface engagement or pusher member 900T is mounted to the inner link 802IL so as to be movable in the direction of arrow <NUM>. Another pickface engagement or finger member 900F is also mounted on inner link 802IL so as to be rotatable about an axis FAX, which is substantially parallel with the direction of arrow <NUM>, so as to be rotated between a deployed position (see <FIG>) and a retracted position (see <FIG>). The pusher member 900T is driven by a linear drive or actuator 900TM so as to reciprocate in the direction of arrow <NUM> within aperture 900TA of the inner link 802IL. The pusher member 900T includes a pickface engagement surface 900TS that extends in the direction of arrow <NUM> towards a centerline PBCL of the payload bay <NUM> so as to, when moved in the direction of arrow 299A, push a pickface onto a predetermined shelf <NUM>. In one aspect the pusher member 900T effects a justification of a pickface(s), when being placed into a pickface holding location, in the direction of arrow <NUM> independent of, for example, one or more of pickface size, the storage rack structure (e.g. the pickface holding location) and extension/retraction of the telescoping arms 802A, 802B. In other words the movement of the pusher member in the direction of arrow <NUM> effects an independently variable justification of a pickface along a direction of extension and retraction across the storage rack (pickface holding location) and independent of the extension/retraction of the telescoping arms 802A, 802B. As may be realized, in one aspect, the movement of one or more of the pusher member 900T in the direction of arrow <NUM> along with the movement of the arms 802A, 802B in the direction of one o more of arrows <NUM>, <NUM> is in a plane substantially parallel with a pickface support plane of the payload bed/area to effect the full payload area justification (e.g., as noted above, a justification of the payload anywhere in within the payload bed and anywhere within a storage shelf area that is accessible by the arms 220A, 220B) of the at least one pickface independent of a size of the at least one pickface.

The finger member 900F is rotatably mounted on the inner link 802IL through any suitable drive such as rotary motor 900FM. Also referring to <FIG>, the finger member 900F is disposed in the retracted position to allow the pickface <NUM> to travel past the free end FE when being pushed onto a shelf <NUM> or during extension of the end effector <NUM> into a pickface storage location on a shelf <NUM>, e.g. so that each telescoping arm is extended between adjacent pickfaces so as to straddle a pickface being picked without interfering with the pickfaces located on the shelf <NUM>. The finger member 900F includes a pickface engagement surface 900FS that engages a predetermined pickface to pull the pickface off the shelf <NUM> as the telescoping arms 802A, 802B move out of the shelves and transport the pickface into the payload bay <NUM>. As can be seen in <FIG>, <FIG>, <FIG> the finger member 900F is located at the free end FE of the inner link 802IL and rotates about axis FAX. In operation, when the telescoping arms 802A, 802B (e.g. the end effector <NUM>) are extended into a shelf <NUM> for picking a pickface <NUM> the finger member 900F is positioned past the end 210E of the pickface <NUM> and then rotated to the deployed position so that the pickface engagement surface 900FS is disposed behind the pickface <NUM>. As the end effector <NUM> is retracted in the direction of arrow 299B the pickface engagement surfaces 900FS of the fingers 900F engage the pickface <NUM> and pull the pickface <NUM> into the payload bay <NUM>.

As may be realized, the pusher member 900T is movable in the direction of arrow <NUM> towards or away from the finger member 900F. This reciprocating movement of the pusher member 900T relative to the finger member 900F effects the gripping (e.g. capture) and releasing of pickfaces (e.g. pickfaces having varying depths/sizes DP) between the finger members 900F and the pusher members 900T. Relative movement between the pusher members 900T and the finger members 900F also effects a justification of a pickface at the free end FE of the telescoping arms 802A, 802B (e.g. the end effector <NUM>) so that the pickface is be pushed onto a shelf at an infinite number of predetermined positions dependent on, for example, an extension length of the end effector <NUM>.

In one aspect, one or more of the telescoping arms 802A, 802B includes a wireless control module <NUM> for controlling the pusher member motor 900TM and finger motor 900FM of a respective one of the arms or both arms 802A, 802B. As may be realized, in one aspect each telescoping arm 802A, 802B includes a respective wireless control module <NUM> for controlling the respective motors 900TM, 900FM while in other aspects a common wireless control module <NUM> can control the motors 900TM, 900FM on both telescoping arms 802A, 802B. The wireless control module(s) <NUM> is mounted to the inner link 802IL of a respective telescoping arm 802A, 802B while in other aspects the wireless control module <NUM> is mounted at any suitable location of the respective telescoping arm 802A, 802B. The wireless control module <NUM> is configured for wireless communication with, for example, the rover controller 110C (<FIG>) in any suitable manner such as, for example, Bluetooth, infrared, radio frequency or any other form of wireless communication. The wireless control module <NUM> includes a battery 910B to provide power to the motors 900TM, 900FM and contacts 910C for charging the battery 910B. For example, when the telescoping arms 802A, 802B are in there home or fully retracted configuration/position, as illustrated in <FIG> and <FIG>, the contacts 910C engage contacts 200CT of the payload bay <NUM> so that the batteries are recharged. Here the contacts are illustrated as mechanical contacts but in other aspects the recharging of the battery 910B may be effective through contactless charging such as by induction. As may be realized, wireless control of the pusher member motor 900TM and the finger motor 900FM substantially eliminates flexing wires between, for example, the payload bay <NUM> and each link of the telescoping arms 802A, 802B which can occupy a lot of space and can be a reliability problem.

In one aspect a single motor, such as motor 260A, drives both telescopic arms as best illustrated in <FIG>. As described above, the motor 260A is mounted to the frame 200F of the payload bay <NUM> at, for example, in the middle rear of the payload bay <NUM> but in other aspects the motor 260A may be mounted at any suitable location relative to the payload bay <NUM>. The motor 260A is coupled to any suitable transmission such as belt and pulley transmission 260AT, a chain drive transmission, a gear drive transmission or any other transmission. The transmission 260AT couples an output shaft of the motor 260A with, for example, drive shafts 500A, 500B which are oriented substantially perpendicular to the telescoping arm 802A, 802B so as to extend in either direction from, for example, the transmission 260AT. While two drive shafts 500A, 500B are illustrated, in other aspects a single drive is used. The drive shafts 500A, 500B may be any suitable shafts that include any suitable drive engagement or coupling such as, for example, spline couplings, hex couplings, flange couplings, beam couplings, rigid couplings or any other coupling for coupling the shafts 500A, 500B to the transmission 260AT and pulleys 501P1 as will be described below. For example, as described above, pulley 501P1 includes a drive coupling <NUM> that mates with the drive coupling of a respective one of the drive shafts 500A, 500B. In one aspect the coupling between the shafts 500A, 500B and the pulley 501P1 is a floating coupling so that the drive shafts 500A, 500B are supported by the drive coupling <NUM> of the pulleys 501PS disposed on in the fixed arms links 802FL in order to avoid binding from, for example, misalignment. As each pulley 501P1 is driven by a respective drive shaft 500A, 500B, each pulley 501P1 in turn drives the belt 501B on the fixed arm link 802FL of each arm 802A, 802B so as to power or otherwise drive the telescopic motion of the arms 802A, 802B. In one aspect the drive shafts 500A, 500B are configured so the drive coupling extends along the length of the drive shaft 500A, 500B so that the pulley 501P1 is able to slide along the length of the respective drive shaft 500A, 500B while maintaining a driving engagement with the drive shaft 500A, 500B. For example, as the arms 802A, 802B are moved towards or away from each other in the direction of arrow <NUM> the coupling <NUM> of each pulley 501P1 slides along the drive shaft 500A, 500B allowing the arms to be extended and retracted in an infinite number of positions within the limits of travel along the direction of arrow <NUM>.

As may be realized, because of the way loads are distributed in the manipulator 800E, the structure of the manipulator 800E (as described herein) can be extremely light weight. For example, the masts 801A, 802B, payload bay <NUM> and the components thereon (e.g. for driving the telescoping arms 802A, 802B in the directions of arrows <NUM>, <NUM> employ standard aluminum channel and aluminum skins held together with high strength adhesive. This type of construction allows the individual frames 200F, 200GF, 801F, 803F to be configured for large or small payloads depending on the variation of pickfaces to be handled. The telescopic arms 802A, 802B are also easily configured for varied depths of travel.

Referring again to <FIG> an exemplary operation of the manipulator 800E will be described. The rover <NUM> is positioned to transfer a pickface from a shelf to the rover <NUM> in a manner substantially similar to that described above (<FIG>, Block <NUM>). A spacing between D1' between the arms 802A, 802B is adjusted in the direction of arrow <NUM> to align the arms 802A, 802B with a pickface (so as to fit in the space SP between adjacent pickfaces) as illustrated in <FIG> (<FIG>, Block <NUM>). As described above, in one aspect the rover <NUM> includes justification in the direction of arrow <NUM>, the telescoping arms of the rover are moved as a unit in the direction of arrow <NUM> to further align the pickface with a holding location (or to align the arms with the pickface), e.g. fine positioning of the telescoping arms relative to a pickface holding location (<FIG>, Block 5001A). The payload bay <NUM> is moved in the direction of arrow <NUM> to substantially align the pickface support surface <NUM> of the payload bay <NUM> with a support surface (or plane) 140SPL of the shelf <NUM> as illustrated in <FIG> (<FIG>, Block <NUM>). The telescopic arms 802A, 802B are extended in the direction of arrow 299A (e.g. with the fingers 900F in the retracted position) so that the fingers 900F are placed behind (relative to the rover <NUM>) or past an end 210E of the pickface <NUM> as illustrated in <FIG>) (<FIG>, Block <NUM>). The fingers 900F are rotated to a deployed position (as illustrated in <FIG> and <FIG>) (<FIG>, Block <NUM>) and the telescoping arms 802A, 802B are retracted in the direction of arrow 299B so that the fingers 900F engage the pickface <NUM> and pull (e.g. slide) the pickface from the shelf <NUM> to the pickface support surface <NUM> of the payload bay <NUM> (<FIG>, Block <NUM>). As may be realized, suitable clearance is provided between the inner arm links 802IL and the pickface <NUM> to allow the pickface to move between the inner arm links 802IL, however it should be understood that in one aspect the clearance is minimal so that the inner arm links 802IL guide movement of and justify (in the direction of arrow <NUM>) the pickface within the payload bay. In other aspects the pickface is justified in the direction of arrow <NUM> in the payload bay <NUM>, e.g. along a centerline CL (<FIG>) of the payload bay <NUM> where the telescoping arms 802A, 802B are moved towards in other in the direction of arrow <NUM> for positioning a centerline of the pickface <NUM> along the centerline CL of the payload bay <NUM> (<FIG>, Block <NUM>). The pusher members 900T are actuated in the direction of arrow 299A so as to move the pickface <NUM> against the fingers 900F so as to capture or clamp the pickface <NUM> between the pusher member(s) 900T and the finger(s) 900F (<FIG>, Block <NUM>) to allow, for example, transport of the pickface. As may be realized the clamping of the pickface <NUM> between the pusher member(s) 900T and the fingers 900F also justifies the pickface <NUM> in the direction of arrow <NUM> so that the pickface can be placed at any suitable depth on a predetermined shelf <NUM> or other holding location (<FIG>, Block <NUM>). In other aspects, the fingers 900F are disengaged from the pickface and the movement of the pusher members(s) 900T alone, in the direction of arrow <NUM>, effects the justification of the pickface <NUM> in the direction of arrow <NUM> so that the pickface can be placed at any suitable depth on a predetermined shelf <NUM> or other holding location. As may be realized, the picking process described above may be repeated so that multiple pickfaces are arranged along the direction of arrow <NUM> within the payload bay <NUM>.

To place the pickface <NUM> the rover <NUM> is positioned to transfer a pickface from a shelf to the rover <NUM> in a manner substantially similar to that described above (<FIG>, Block <NUM>). As described above, in one aspect the rover <NUM> includes justification in the direction of arrow <NUM>, the telescoping arms of the rover are moved as a unit in the direction of arrow <NUM> to further align the pickface with a holding location (or to align the arms with the pickface), e.g. fine positioning of the telescoping arms relative to a pickface holding location (<FIG>, Block 6001A). The payload bay <NUM> is moved in the direction of arrow <NUM> to substantially align the pickface support surface <NUM> of the payload bay <NUM> with a support surface (or plane) 140SPL of the shelf <NUM> as illustrated in <FIG> (<FIG>, Block <NUM>). The fingers 900F are rotated to the retracted position shown in, e.g., <FIG> (as may be realized the gripping of the pickface between the pusher member(s) 900T and the finger(s) 900F may be sufficiently released to allow movement of the finger(s) 900F) (<FIG>, Block <NUM>). The telescoping arms 802A, 802B are extended in the direction of arrow 299A so that the pusher members 900T push or slide the pickface <NUM> from the pickface support surface <NUM> of the payload bay to a support surface 140SPL of the shelf <NUM> or other pickface holding location (<FIG>, Block <NUM>). In one aspect the pusher members 900T are moved in the direction of arrow 299A during and/or after the extension of the telescoping arms 802A, 802B to further position the pickface in the direction of arrow 299A. Referring again to <FIG> an exemplary pickface building operation of the rover <NUM> will be described. The rover <NUM> is positioned to transfer one or more first pickfaces <NUM> (<FIG>) from a shelf to the rover <NUM> in a manner substantially similar to that described above (<FIG>, Block <NUM>). A spacing D1' between the arms 802A, 802B is adjusted in the direction of arrow <NUM> to align the arms 802A, 802B with the one or more first pickfaces <NUM> (so as to fit in the space SP between adjacent case units/pickfaces) as illustrated in <FIG> (<FIG>, Block <NUM>). As described above, in one aspect the rover <NUM> includes justification in the direction of arrow <NUM>, the telescoping arms of the rover are moved as a unit in the direction of arrow <NUM> to further align the telescoping arms 802A, 802B with the one or more first pickfaces <NUM>, e.g. fine positioning of the telescoping arms relative to a pickface holding location (<FIG>, Block 7001A). The payload bay <NUM> is moved in the direction of arrow <NUM> to substantially align the pickface support surface <NUM> of the payload bay <NUM> with a support surface (or plane) 140SPL of the shelf <NUM> as illustrated in <FIG> (<FIG>, Block <NUM>). The telescopic arms 802A, 802B are extended and retracted in the direction of arrows 299A, 299B to transfer the one or more first pickfaces <NUM> to the payload bay (<FIG>, Block <NUM>) in the manner described above with respect to Blocks <NUM>-<NUM> of <FIG>. Once the one or more first pickfaces <NUM> are positioned within the payload bed <NUM> the rover <NUM> traverses the picking structure and is positioned relative to another pickface holding location (<FIG>, Block <NUM>) for the transfer of one or more second pickfaces 210X (<FIG>) to the payload bay <NUM>. The one or more first pickfaces <NUM> within the payload bay are unclamped and the spacing between the telescoping arms 802A, 802B are adjusted (<FIG>, Block <NUM>) and/or justified (<FIG>, Block 7001A) so as to align the telescoping arms 801A, 802B with the one or more second pickfaces 210X in the other pickface holding location. As may be realized, the one or more first pickfaces <NUM> already held on the payload bed <NUM> are moved with the telescoping arms in the direction of arrow <NUM> as the telescoping arms are justified. The payload bay <NUM> is moved in the direction of arrow <NUM> to substantially align the pickface support surface <NUM> of the payload bay <NUM> with a support surface (or plane) 140SPL of the shelf <NUM> as illustrated in <FIG> (<FIG>, Block <NUM>). The telescopic arms 802A, 802B are extended and retracted in the direction of arrows 299A, 299B to transfer the one or more second pickfaces 210X to the payload bay (<FIG>, Block <NUM>) in the manner described above with respect to Blocks <NUM>-<NUM> of <FIG>. As may be realized, during the transfer of the one or more second pickfaces 210X into the payload bay <NUM> the telescoping arms 802A, 802B may be spaced from the sides of the one or more first pickfaces so that the pusher members 900T not contact the one or more first pickfaces <NUM> in the payload bay <NUM> (and/or the pusher members 900T are positioned so as to not contact the pickface in the payload bay <NUM>). When the one or more second pickfaces 210X are located within the payload bed <NUM> the pusher members 900T and/or fingers 900F are used to snug the one or more first and second pickfaces together in the direction of arrows 299A, 299B. The one or more first and second pickfaces <NUM>, 210X are transferred as a unit by the rover and placed at a pickface holding location as a unit (or at more than one pickface holding location separately) in a manner substantially opposite to that described above with respect to the transfer of the pickfaces <NUM>, 210X into the payload bed.

In accordance with one or more aspects of the disclosed embodiment an autonomous transport vehicle is provided. The autonomous transport vehicle including a payload bed and an end effector disposed in the payload bed and configured to extend along a first axis to transfer a pickface to and from the payload bed, the end effector including at least one transfer arm and fingers that extend from the at least one transfer arm along a second axis substantially perpendicular to the first axis, the fingers being configured to support the pickface from underneath the pickface.

In accordance with one or more aspects of the disclosed embodiment the at least one transfer arm comprises two transfer arms configured to straddle opposing sides of the pickface.

In accordance with one or more aspects of the disclosed embodiment the at least one transfer arm is a telescoping transfer arm.

In accordance with one or more aspects of the disclosed embodiment each of the at least one transfer arm includes a belt drive configured to effect extension and retraction of the at least one transfer arm.

In accordance with one or more aspects of the disclosed embodiment the fingers are spaced apart by a predetermined pitch that corresponds to a pitch between support surfaces of a pickface support shelf so that the fingers pass through spaces located between the support surfaces.

In accordance with one or more aspects of the disclosed embodiment the autonomous transport vehicle includes a drive section configured to move the at least one transfer arm along a longitudinal axis of the autonomous transport vehicle.

In accordance with one or more aspects of the disclosed embodiment the autonomous transport vehicle includes a drive section configured to move each of the at least one transfer arm along a longitudinal axis of the autonomous transport vehicle independent of other ones of the at least one transfer arm.

In accordance with one or more aspects of the disclosed embodiment the autonomous transport vehicle includes a drive section configured to move the end effector in a direction substantially perpendicular to the first axis.

In accordance with one or more aspects of the disclosed embodiment the drive section is configured to move the end effector in a direction substantially perpendicular to the first axis to allow the autonomous transport vehicle to access multiple levels of stacked storage shelves.

In accordance with one or more aspects of the disclosed embodiment the fingers are fixedly mounted to the at least one transport arm.

In accordance with one or more aspects of the disclosed embodiment the fingers are movably mounted to the at least one transfer arm for movement between extended and retracted positions, where when in the extended position the fingers extend from the at least one transfer arm along the second axis.

In accordance with one or more aspects of the disclosed embodiment a storage and retrieval system is provided. The storage and retrieval system includes at least one autonomous transport vehicle including a payload bed and an end effector disposed in the payload bed and configured to extend along a first axis to transfer a pickface to and from the payload bed, at least one picking aisle configure to allow travel of the at least one autonomous transport vehicle through the picking aisle, and at least one storage shelf located adjacent the at least one picking aisle, the at least one storage shelf having spaced apart pickface support surfaces that extend along a second axis where the second axis is substantially perpendicular to the first axis and the end effector includes fingers that extend along the second axis and being configured to allow interleaving of the fingers with the pickface support surfaces.

In accordance with one or more aspects of the disclosed embodiment the end effector includes at least one transfer arm and the fingers extend from the at least one transfer arm.

In accordance with one or more aspects of the disclosed embodiment the at least one autonomous transport vehicle includes a drive section configured to move the at least one transfer arm along a longitudinal axis of the autonomous transport vehicle.

In accordance with one or more aspects of the disclosed embodiment the at least one autonomous transport vehicle includes a drive section configured to move each of the at least one transfer arm along a longitudinal axis of the autonomous transport vehicle independent of other ones of the at least one transfer arm.

In accordance with one or more aspects of the disclosed embodiment the end effector is a telescoping end effector.

In accordance with one or more aspects of the disclosed embodiment the end effector includes at least one transfer arm and each of the at least one transfer arm includes a belt drive configured to effect extension and retraction of the end effector.

In accordance with one or more aspects of the disclosed embodiment the fingers are spaced apart by a predetermined pitch that corresponds to a pitch between the pickface support surfaces so that the fingers pass through spaces located between the support surfaces.

In accordance with one or more aspects of the disclosed embodiment the at least one autonomous transport vehicle includes a drive section configured to move the end effector in a direction substantially perpendicular to the first axis.

In accordance with one or more aspects of the disclosed embodiment the drive section is configured to move the end effector in a direction substantially perpendicular to the first axis to allow the at least one autonomous transport vehicle to access multiple levels of stacked storage shelves.

In accordance with one or more aspects of the disclosed embodiment the fingers are fixedly mounted to the end effector.

In accordance with one or more aspects of the disclosed embodiment the fingers are movably mounted to the end effector for movement between extended and retracted positions, where when in the extended position the fingers extend from the end effector along the second axis.

In accordance with one or more aspects of the disclosed embodiment a method for transferring pickfaces within a storage and retrieval system is provided where the storage and retrieval system includes at least autonomous transport vehicle, at least one picking aisle having a picking aisle deck configured to allow the at least one autonomous transport vehicle to travel along the at least one picking aisle and at least one storage shelf disposed adjacent the at least one picking aisle. The method includes extending an end effector of the at least one autonomous transport vehicle into the at least one storage shelf a predetermined distance so that arms of the end effector straddle opposing sides of a pickface, lowering the end effector so that fingers of the end effector are interleaved with and below pickface support surfaces of the at least storage shelf in a direction substantially perpendicular to an axis of extension of the end effector, positioning the fingers beneath the pickface, and lifting the pickface from the at least one storage shelf where the fingers support the weight of the pickface.

In accordance with one or more aspects of the disclosed embodiment positioning the fingers beneath the pickface comprises moving one or more arms of the end effector towards a respective side of the pickface.

In accordance with one or more aspects of the disclosed embodiment where the end effector includes arms and the method further includes adjusting a spacing between the arms so that the arms are contactlessly inserted into shelf spaces disposed along the opposing sides of the pickface.

In accordance with one or more aspects the at least one storage shelf includes stacked storage shelves and the method further includes raising or lowering the end effector to a level of one of the stacked storage shelves.

In accordance with one or more aspects of the disclosed embodiment multiple stacked storage shelves are accessible by the at least one autonomous transport vehicle from a common picking aisle deck.

According to the invention an autonomous transport vehicle includes a frame forming a payload area; telescoping arms movably mounted to the frame, each telescoping arm being configured for extension and retraction relative to the frame along an extension axis to effect transfer of at least one pickface to and from the payload area, and traversal, relative to the frame, in at least one direction that is angled to the extension axis; and at least one tab extending from each telescoping arm where the at least one tab extends in a direction transverse to the direction of extension and retraction, and the at least one tab on one of the telescoping arms opposes the at least one tab on another of the telescoping arms.

In accordance with one or more aspects of the disclosed embodiment the at least one direction is one or more of a vertical and horizontal direction.

In accordance with one or more aspects of the disclosed embodiment the autonomous transport vehicle further includes a three degree of freedom drive connected to the telescoping arms to effect the traversal of the telescoping arms and the extension and retraction of the telescoping arms.

In accordance with one or more aspects of the disclosed embodiment a distance between telescoping arms is a variable distance such that each telescoping arm has a variable location of extension and retraction.

According to the invention each telescoping arm includes a free end and a rotatable finger mounted to the free end, the rotatable finger being movable between a retracted position so as not to contact the at least one pickface and a deployed position so at to engage a vertical side of the at least one pickface and effect at least transfer of the at least one pickface into the payload area.

In accordance with one or more aspects of the disclosed embodiment each telescoping arm includes a wireless control module to effect actuation of at least a respective finger.

According to the invention each telescoping arm includes a movable pusher member that opposes the finger, the pusher member being configured to linearly move towards and away from the finger to at least clamp and release the pickface between the movable pusher member and finger.

In accordance with one or more aspects of the disclosed embodiment each telescoping arm includes a wireless control module to effect actuation of at least a movable pusher member.

In accordance with one or more aspects of the disclosed embodiment traversal of each transfer arm is in a plane substantially parallel with a pickface support plane of the payload area to effect a full payload area justification of the at least one pickface independent of a size of the at least one pickface.

In accordance with one or more aspects of the disclosed embodiment each telescoping arm includes fingers that extend from the telescoping arm along a second axis substantially perpendicular to the extension axis where the fingers are configured to support the at least one pickface from underneath the at least one pickface.

In accordance with one or more aspects of the disclosed embodiment the at least one tab engages a pickface through vertical movement of the telescoping arms.

In accordance with one or more aspects of the disclosed embodiment a storage and retrieval system includes at least one autonomous transport vehicle including a frame forming a payload area, and telescoping arms movably mounted to the frame, each telescoping arm being configured for extension and retraction relative to the frame along an extension axis, and traversal, relative to the frame, in at least one direction that is angled to the extension axis; at least one picking aisle configured to allow travel of the at least one autonomous transport vehicle through the picking aisle; and at least one storage shelf located adjacent the at least one picking aisle, where extension and retraction of the telescoping arms to effects transfer of at least one pickface between the at least one storage shelf and the payload area.

In accordance with one or more aspects of the disclosed embodiment the at least one storage shelf includes more than one stacked storage shelf accessible from a common travel surface of the at least one picking aisle.

In accordance with one or more aspects of the disclosed embodiment the at least one autonomous transport vehicle includes a three degree of freedom drive connected to the telescoping arms to effect the traversal of the telescoping arms and the extension and retraction of the telescoping arms.

According to the invention, it is provided a method for transferring pickfaces within a storage and retrieval system that includes at least one autonomous transport vehicle, at least one picking aisle having a picking aisle deck configured to allow the at least one autonomous transport vehicle to travel along the at least one picking aisle and at least one storage shelf disposed adjacent the at least one picking aisle, the method includes positioning telescoping arms of the at least one autonomous transport vehicle along at least one axis relative to a frame of the at least one autonomous transport vehicle so that the telescoping arms are disposed at a position corresponding to a predetermined location of the at least one storage shelf; extending the telescoping arms along a another axis relative to the frame so that the telescoping arms straddle opposing sides of a pickface where the at least one axis is angled relative to the other axis; and transferring the pickface into a payload area of the at least one autonomous transport vehicle through a retraction of the telescoping arms along the other axis.

According to the invention, the method comprises transferring the pickface into the payload area includes pulling the pickface into the payload area with rotatable fingers mounted to the telescoping arms;.

According to the invention the method further includes clamping the pickface against the fingers with movable pusher members disposed on the telescoping arms.

In accordance with one or more aspects of the disclosed embodiment the method further includes wirelessly effecting actuation of at least the rotatable fingers.

In accordance with one or more aspects of the disclosed embodiment positioning the telescoping arms includes positioning the telescoping arms along two axes, where the two axes are substantially orthogonal to one another.

In accordance with one or more aspects of the disclosed embodiment an autonomous transport vehicle includes a frame forming a payload area; telescoping arms movably mounted to the frame, each telescoping arm being configured for extension and retraction relative to the frame along an extension axis to effect transfer of at least one pickface to and from the payload area, and traversal, relative to the frame, in at least one direction that is angled to the extension axis; and at least one tab extending from each telescoping arm, the at least one tab being mounted to a respective telescoping arm so as to be movable in a direction of extension and retraction of the telescoping arms to effect justification of the at least one pickface in the direction of extension and retraction independent of extension and retraction of the telescoping arms.

Claim 1:
An autonomous transport vehicle (<NUM>) for a storage and retrieval system, the autonomous transport vehicle comprising:
a frame (110F) forming a payload area (200A);
telescoping arms (802A, 802B) movably mounted to the frame, each telescoping arm (802A, 802B) being configured for
extension and retraction relative to the frame along an extension axis (<NUM>) to effect transfer of at least one pickface (<NUM>) to and from the payload area (200A), and
traversal, relative to the frame (110F) in at least one direction (<NUM>, <NUM>) that is angled to the extension axis (<NUM>); and
at least one tab (<NUM>) extending from each telescoping arm (802A, 802B) where the at least one tab (<NUM>) extends in a direction (<NUM>) transverse to the direction of extension and retraction, and the at least one tab (<NUM>) on one of the telescoping arms (802A, 802B) opposes the at least one tab on the other one of the telescoping arms (802A, 802B);
wherein each telescoping arm includes a free end and a rotatable finger (900F) mounted to the free end, the rotatable finger (900F) being movable between a retracted position so as not to contact the at least one pickface and a deployed position so at to engage a vertical side of the at least one pickface and effect at least transfer of the at least one pickface into the payload area (200A), characterized in that
each telescoping arm includes a movable pusher member (900T) that opposes the rotatable finger (900F), the movable pusher member (900T) being configured to linearly move towards and away from the rotatable finger (900F) to at least clamp and release the pickface between the movable pusher member (900T), and rotatable finger (900F).