Abstract: An automated storage and retrieval facility includes an automated decant system for decanting cases of eaches received from manufacturers or others. The automated decant system includes a decant workstation which receives the cases of eaches, cuts and removes the packaging of the cases. Once case packaging has been removed, the decant workstation separates and organizes the eaches, and drops them into totes waiting beneath the workstation.

Abstract: A micro-fulfillment center fulfills orders for goods including both in-store picking of goods and online ordering of goods. Orders are fulfilled using both a picker to goods (P2G) model and an automated goods to picker (G2P) model. In examples, goods are replenished to the automated G2P system from store shelves which also serve the P2G model.

Abstract: A storage and retrieval system including a vertical array of storage levels, each storage level having, picking aisles, storage locations, disposed within the picking aisles, and at least one transfer deck providing access to the picking aisles, a multilevel vertical conveyor system configured to transport the uncontained case units to and from the vertical array of storage levels, each storage level being configured to receive uncontained case units from the multilevel vertical conveyor system, at least one autonomous transport located on each storage level for transporting the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to create a primary access path through the transfer decks and picking aisles to a predetermined one of the storage locations and at least one secondary access path to the predetermined one of the storage locations when the primary path is impassable.

Abstract: One or more computational strategies is used to reduce the complexity of handling detected point clusters appearing at a portal of a monitored workcell. If the other side of the portal is a second, adjacent workcell, the monitoring system for a first workcell predicts when a human in that workcell may pass through the portal to a second workcell and alerts the monitoring system for the second workcell. The prediction may be based on absolute proximity of a human to the portal or movement toward it. Other strategies are employed if the workcells overlap, or if the portal leads to an unmonitored space.

Abstract: A combination automated-service and self-service store for implementation at brick-and-mortar retail locations is provided. The store and corresponding method of implementation is an automated-service model in which robots, deployed at the brick-and-mortar location, fill orders for fungible goods placed by customers either online or in-store. The store also includes a shopping section where customers can select/order items and/or personally select non-fungible goods. The store includes a shopping section for non-fungible goods that customers prefer to pick out by hand and a back end automated order fulfillment section for other goods (e.g., fungible goods, dry goods, etc.). The two sets of goods are merged to a delivery bundle and delivered together for pickup by the customer.

Abstract: A selectably configurable modular labware transport system including a labware bulk overhead transport system module forming an overhead transport path. The labware bulk overhead transport system module has a labware support, with at least a movable part of the labware support being configured to support labware thereon, and move longitudinally defining the overhead transport path. The labware support has more than one labware holding stations for holding a labware piece, each of the labware holding stations having a different location along the labware support and overhead transport path. The labware bulk overhead transport system module is communicably couplable to another labware bulk overhead transport system module that forms another different overhead transport path, and effects undisrupted transport of the labware throughout the overhead transport path with the labware bulk overhead transport system module both coupled to and uncoupled from the other labware bulk overhead transport system module.

Abstract: An order fulfillment system is disclosed including a multi-level tote storage structure, one or more autonomous mobile robots configured to pick, transport and place one or more tote; one or more workstations configured to accommodate a picker that transports one or more eaches from a tote on one of the autonomous mobile robots to a “put” location, wherein the autonomous mobile robots are configured to move from level to level in the order fulfillment apparatus.

Abstract: A product order fulfillment system includes multiple decks arrayed at different levels and defining multilevel decks, at least one autonomous transport vehicle on each of the decks, and configured for holding and transporting a pickface on each deck, at least one lift, traversing and connecting more than one level of the decks, and arranged for lifting and lowering the pickface from the decks, and at least one pickface transfer station on each deck interfacing between the transport vehicle and the at least one lift to effect transfer of the pickface between the transport vehicle and the at least one lift, the at least one lift defines a fulfillment stream of mixed case pickfaces outbound from the multilevel decks to a load fill, at least one stream of the fulfillment stream has an ordered sequence of streaming pickfaces wherein the ordered sequence of streaming pickfaces is based on another fulfilment stream.

Abstract: An automated storage and retrieval system includes a first independently operable section having a first number of predetermined storage and retrieval transactions, and a second independently operable section in communication with the first independently operable section and having a second number of predetermined storage and retrieval transactions. The first and second independently operable sections are configured to provide a respective number of predetermined storage and retrieval transactions so that the first number of predetermined storage and retrieval transactions substantially matches the second number of predetermined storage and retrieval transactions.

Abstract: In accordance with one or more aspects of the disclosed embodiment, a lift includes at least one load handling device configured so as to reciprocate along a lift axis, the load handling device including a frame forming a payload section with a payload support surface having a common elevation configured to hold one or more pickfaces at the common elevation of the payload support surface, at least one transfer arm movably mounted to the frame, and a drive section connected to the load handling device and being configured to move the load handling device along the lift axis, wherein the one or more pickfaces carried in unison by the payload support surface of the at least one load handling device, define an order sequence of pickfaces on the at least one load handling device according to a predetermined case out order sequence of mixed cases.

Abstract: An automated order fulfillment system and mobile robot are disclosed, where the mobile robot includes a compliant drive for moving between levels of a multilevel storage structure.

Abstract: An autonomous guided vehicle includes a chassis with a power supply and powered sections that are connected to the chassis and powered by the power supply. The powered sections include a drive section, a payload handling section, and a peripheral electronics section. A controller of the vehicle includes a comprehensive power management section communicably connected to the power supply so as to monitor a charge level of the power supply. The comprehensive power management section is connected to the drive section, the payload handling section, and the peripheral electronics section respectively powering the drive section, the payload handling section, and the peripheral electronics section from the power supply. The comprehensive power management section manages power consumption of branch circuits, of the powered sections, based on a demand level of each branch circuit relative to the charge level available from the power supply.

Abstract: A method for transporting a payload pickface, the method comprising an autonomous transport vehicle payload bed of an autonomous guided transport vehicle and providing a transfer arm disposed in the autonomous transport vehicle payload bed and defining at least a portion of the autonomous transport vehicle payload bed so that a payload pickface is seated on and stably held in the autonomous transport vehicle payload bed by at least a portion of the transfer arm for autonomous guided transport vehicle travel, the transfer arm being configured to extend along a first axis to transfer the payload pickface to and from the autonomous transport vehicle payload bed, and effecting picking and placing of the payload pickface with the transfer arm including fingers that define a payload bed support surface of the autonomous transport vehicle payload bed.

Abstract: A warehousing system includes a multilevel container storage array each level of which has a transport area and a storage area, a container transport vehicle located on each level to transport containers to and from container storage locations on each storage shelf on each level of the multilevel storage array to a breakpack operation station, a putwall of more than one levels of breakpack goods container stations distributed along each level with a corresponding breakpack goods transfer deck at each level of the putwall, a breakpack goods transport vehicle that transports breakpack goods along the corresponding breakpack goods transfer deck, and between corresponding breakpack goods transfer decks at different levels of the putwall, to each breakpack goods container station, and a controller effecting operation of the container transport vehicle between the container storage locations, the breakpack operation station, and a breakpack goods container located at a breakpack goods container station.

Abstract: A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.

Abstract: A maintenance access system for a storage and retrieval system having a storage and retrieval space and automated transport vehicles disposed in the space. The system includes at least one maintenance access control unit associated with a portion of the space, at least one barrier in the space and defining a boundary of the portion of the space and configured to substantially prevent the passage of the vehicles past the at least one barrier, and a controller connected to the control unit, the controller being configured to receive a signal from the at least one control unit for isolating the portion of the space associated with the at least one control unit, where the controller in response to the signal closes the at least one barrier isolating the portion of the space and effects the removal from or shutting down of vehicles within the portion of the space.

Abstract: An autonomous transport robot for transporting a payload is provided and includes a frame with an integral payload support, a transfer arm connected to the frame for autonomous transfer of payload to and from the frame, and a drive section with at least a pair of traction drive wheels astride the drive section, the drive section being connected to the frame. The at least the pair of traction drive wheels have a fully independent suspension coupling each traction drive wheel of the at least the pair of traction drive wheels to the frame, with at least one intervening pivot link between at least one traction drive wheel and the frame configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and a rolling surface over rolling surface transients throughout traverse of the at least one traction drive wheel over the rolling surface.

Abstract: A product order fulfillment system including a multi-level transport system and a lifting transport system. Each level of the multi-level transport system having a corresponding independent asynchronous level transport system separate and distinct from the asynchronous level transport system corresponding to each other level of the multi-level transport system. Each independent lift axis of the lifting transport system being configured to independently hold at least one case and being communicably coupled to each asynchronous level transport system so as to provide for exchange of the at least one case between each asynchronous level transport system and each independent lift axis. Each independent lift axis is communicably coupled to each other independent lift axis of the more than one lift axis and forms a common output of mixed cases so as to create an ordered sequence of mixed cases in accordance to a predetermined case out ordered sequence.

Abstract: A pickface builder for a storage and retrieval system for storing goods units and having an in-feed conveyor and a picking device, each goods unit holding at least one product package therein, the pickface builder including a frame, a pusher member movably coupled to the frame, and a snugger member movably coupled to the frame, wherein the pickface builder is configured to receive goods units from the in-feed conveyor and the pusher member and snugger member are movable at least in a direction transverse to a direction of goods unit travel on the in-feed conveyor and configured to form the goods units into a pickface picked by the picking device as a unit and having a predetermined reference datum relating the pickface to a placement position of goods units forming the pickface along a storage surface of the storage and retrieval system.

Abstract: A warehousing system for storing and retrieving goods disposed in containers is provided. The system includes a multilevel storage array including an array of storage shelves for holding containers thereon, at least one substantially continuous lift for transporting containers to and from at least one level of the storage array, at least one transport vehicle located on the at least one level and configured to traverse a transport area transporting containers between the at least one continuous lift and container storage locations so that the at least one continuous lift communicates non-deterministically, via the transport vehicle, with storage locations of each of the storage shelves on the at least one level, an infeed transport system linked to the at least one continuous lift, an and order fulfillment station for generating order containers corresponding to customer orders where the order containers are entered onto the storage shelves of the storage array.